View Full Version : Lexapod

08-10-2008, 11:36 AM
Hi there..

About 18 months ago I bought KHR-1HV. which soon lost its lustre and got modded with a lynxmotion SSC and a Sparkfun Bluesmirf..


This lasted about 2 months before I saw hexapods as the thing to have.

So I came up with Fluffy or as its now known, Lexapod

Hand cut from 3mm and 4mm Clear Lexan polycarbonate...


Like many, its original shape was inspired by Matt Dentons work at micromagic systems.

Initially it was driven with a Lynxmotion SSC32 over Bluesmirf. The gait engine was written in VB.NET and worked quite well even managing to produce a variable metachronal wave gait.

YouTube - Fluffy is alive

YouTube - .NET control of hexbot

YouTube - Metachronal or Wave Gait

I then experimented with OpenCV and EMGU in .NET this allowed a bit of vision

YouTube - Hexapod with OpenCV / AForge . VB.NET

YouTube - What the Hexapod saw

Even motion detection

YouTube - OpenCV Motion detection

Though most recent is the beta testing of Matts controller with my bot..

YouTube - Lexapod with p.Brain
This was an hour and a half after receiving the board in the post.

YouTube - Lexapod with micromagic p.Brain
YouTube - Lexapod p.Brain translation and rotation
and these 2 are after some fine tuning and learning on my part.

Lexapod was built using a dremel with a few attachments. All the parts are hand designed and cut. Much advice has been received (and mostly listened to) as Lex has grown so thanks to all who've contributed..

08-10-2008, 12:01 PM
Excellent work Paul!

It's almost hard to believe that you handcut them with a dremel! Wow! You are showing outstanding skills for sure. Also very impressive was your work with your own code and vision system.

08-10-2008, 01:03 PM
That's very nice work!

I didn't manage to look at all the videos yet, my web browser sometimes doesn't make the videos appear. I will have to looks into it, but meanwhile what I saw was wonderfull.


08-10-2008, 01:06 PM
That's insanely cool for dremel work! Grats, and welcome to the TRC!

[I edited your message, the really large photo was breaking page formatting. The thumbnails are clickable to show medium size on the first click, full size in new window on the second click]

Droid Works
08-11-2008, 12:15 PM
Excellent work!