View Full Version : [Project] Hexapod Tori

06-05-2010, 04:44 PM
Hello everyone,

I'm building a hexapod robot for my final year project .. but I'm paying for it so I will keep it for me.
All the parts of the robot are custom made- I spent a month of designing; every part is aluminum (1.5mm) and is cut with a cnc water jet. Because of a tight budget I am using weak servos(HS-322hb) and in the process of building I had to find a way to remove some of the stress to the servos. The resolution for the problem are small rubber bands that I put on the legs(two for each leg) that are capable of keeping it standing without powering the servos:rolleyes:. Firstly I made a custom SSC-32 servo controller and it worked well but two months ago I bought a second hand ssc-32 so currently I am using it because of its smaller dimensions. PC to controller communication is accomplished with bluesmirf module. For now I am using an old ATX power supply to power the servos. I wrote a control software in C# (.net 3.5) and now Tori is in full working condition. I have only implemented ripple gait because it seems more natural and it will save my servos for a longer time.
Future plans:
- adding a head with a distance sensor
- make it autonomously walk without hitting walls and falling from the table :)
- I built a laser range finder with an old web camera and linear laser so I want to integrate it in to the head; may be implement face detection.


06-05-2010, 04:57 PM
Very impressive! The fact that it was a) scratch built, b) uses only 322 servos, and c) has a very solid implementation of an ik control GUI written in c# makes it that much better. Well done and +rep frp
me! Any build/finished pictures to share?

06-05-2010, 05:40 PM
Thank you Tyberius. Oh and sorry.. the servos are 325 but I think it does not make a big difference :)

Here are some build pictures:


PS. What " +rep frp me" means? :confused:

06-05-2010, 08:32 PM
That should have read '+ rep from me!' as in I was giving you a positive rep vote on your post (part of our forums reputation rating system.

06-06-2010, 02:51 AM
Thanks for answering my newbie question. Today I will buy some epoxy and will try to make cool head for the robot.I will make more pictures and if it turns nice I will probably post a tutorial.

08-21-2010, 01:21 PM
Hello again.I added new head with an old web cam and implemented face detection and tracking. :)