Spider Pig - Autonomous Hexapod Robot (Bachelor Thesis Project, Linköping University)

www.fregu856.com
Bachelor thesis project by Joakim Bertils, Jonas Ehn, Fredrik Gustafsson, Kevin Kjellén, Erik Ljungzell, Christoffer Malmgren and Jens Månsson, a group of seven students (in applied physics and electrical engineering) at Linköping University, Sweden.
Main hardware:
1x PhantomX AX Metal Hexapod Mark II Kit (including 18x Dynamixel AX-12 servos, excluding the ArbotiX Robocontroller)
3x ATmega1284p microcontrollers
7x IR distance sensors
1x ultrasonic distance sensor
1x MPU-6050 IMU
1x LCD display
1x FireFly Bluetooth modem
1x Raspberry Pi 3 Model B
1x Raspberry Pi Camera Board 5 MP
The robot can navigate a simple maze (containing both low and high obstacles) autonomously and be controlled manually with an Xbox controller connected to a PC. It communicates with the PC over Bluetooth.
The system is divided into three subsystems (control, sensors and communication), with one microcontroller each. The subsystems communicate via an SPI bus.
The Raspberry Pi is configured as a WiFi hotspot and streams video to a Linux computer.
The walking algorithm is based on inverse kinematics. A PD controller is used to keep it centered in corridors.
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Utfört i kursen TSEA56 - Elektronik kandidatprojekt, av sju studenter (teknisk fysik och elektroteknik, Y-programmet) vid Linköpings universitet.
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Y-sektionen

[@drrobotnik5376]

i love this, not afraid to have a utility shape, instead of just being sleek and nothing to it.

[@Renizyne]

3:40 Oh Sh#T! He escaped!! I hope mankind survives the wrath of Spider Pig

[@DavidCook42]

Good job ! My son and I just built a PhantomX MK3 and just got Phoenix code working today. really cool. We really want to learn how to make it autonomous like yours. Lots to learn lol. Thank you for the inspiration

[@fredrikgustafsson6073]

Glad you found the video interesting, good luck! :)

[@MechDickel]

Great project man!

[@lookiii1]

This is awesome 🔥🔥

[@thangle4959]

Awesome man! please share instruction about how do you make this hexapod robot,pls.tks

[@syeedtuaha9082]

really great

Jäklar vad grymt!!! Bra jobbat :D

[@fredrikgustafsson6073]

Tack, ni får se till att göra något ännu coolare när det är er tur! :)

[@rezaucheel]

Hello Björn Runow, can you help me?
I need your sketch, can you give me on your sketch?
[e-mail]

[@monkeymanpig]

Brilliant coding, well done.

[@ElektroROBBIT]

Nice Bro!!!

[@fisslewine1222]

Brilliant robot, and would love to see this scaled up but with faster movement speeds! Is this a kit?

[@BigMTBrain]

Cool! Now, interface a spider or cockroach to drive that thing! instant insect exoskeleton!

[@icarusswitkes986]

Can it swing on a web?

[@themarsoff]

How does the robot understand that it has already stepped on the surface? mounted on the legs of the pressure sensors?

[@pancakurniawan1640]

How to configure 32 channel servo controller v2.6 RTrobot + playstation 2 ?because i m confused grouping with the manual book. Can you lesson me step by step?

[@TutocarloCV]

nice

[@armenvegas]

Wow So damn cool

[@ayyubhidayat7801]

how to program it?

[@rijalnasrulsabillaha.md.t6794]

Open source code in website ? Im from indonesia, im build robo spider use arduino mega + shield mega and mpu 6050

[@nishandevkar2709]

The Bot remembers. XD

[@myperspective5091]

I like the Homer Simpson reference.

[@michaelangelo8001]

This remind anyone else of the spider masterminds in DOOM..?

[@gf-zi5hr]

Am I the only one who expected to hear the "spider pig" theme sang by Homer Simpson?