Crab (Hexapod Robot)

Author: Biriuk Ivan <tuuzdu AT mail DOT ru>

Overview

Hexapod robot with BeagleBone Black.

1. Hardware

• BeagleBone Black

• Mini Maestro 18-Channel USB Servo Controller

• BOB-08745 Logic Level Converter

• MinIMU-9 v2

• PS3 Dual Shock 3

• Wi-Fi adapter NetGear WNA1000M

• Bluetooth adapter MobileData UBT-206

• USB Hub

• Turnigy TGY-S901D servos

2. Software

• joy_node joy

• crab_teleop_joy
• crab_leg_kinematics
• crab_body_kinematics
• crab_gait
• crab_imu
• crab_maestro_controller
• crab_joint_publisher

• joint_state_publisher

3. ROS files

• crab_description (URDF)
• crab_msgs

Article

Article about robot (in Russian).

Source

GitHub - software source. GrabCad - design source.

Video