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Thread: AX12 Hexapod Robot

  1. Thumbs up AX12 Hexapod Robot

    Hi all, I'm pabloxid from Uruguay, age 38. I'm new to this forum, this is my first post.

    I want to show you my latest robot, it's an hexapod with 18 dynamixel AX-12 servos, controlled by an Arduino Mega board.

    In the video itself you can found a description of it.

    Here are some pictures of it:

    Thank you so much for your attention.


  2. #2
    Join Date
    Jan 2008
    Norway, Stavanger
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    Re: AX12 Hexapod Robot

    Excellent work on the kinematics, gait and control!
    Kåre Halvorsen aka Zenta
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  3. #3
    Join Date
    Jul 2008
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    Re: AX12 Hexapod Robot

    Nice work pabloxid.

    I like the spring damped feet.
    Last edited by Quantum; 03-10-2011 at 01:44 AM.

  4. Smile Re: AX12 Hexapod Robot

    Thank you very much for your comments.

  5. #5
    jorge Guest

    Re: AX12 Hexapod Robot

    Hi to everybody, i'm Jorge, the second in the authors list for SAMSA II

    As Pablo doesn't feel very confident with english, i'm here to answer any question there could be (most of the time i would be translating his answers, tough).

  6. Re: AX12 Hexapod Robot

  7. #7
    Join Date
    Dec 2010
    my lair
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    Re: AX12 Hexapod Robot

    Hi Pablo, I'm impressed with your hex.
    Especially the smoothness of the gait.
    What things have you implemented besides kinematics?
    Does it also come with balancing or terrain adaptation?



  8. Re: AX12 Hexapod Robot

    Hi Gonzo, thanks for your appreciation.

    I started this project in October last year. For the moment what I have developed are the aspects of movement and low-level things such as communication between the modules, interrupts, etc..

    But I plan to equip it with sensors, and research in various aspects. The head has a Sharp sensor supplemented with 2 short lateral sensors. With this I try to avoid or follow objects.

    With regard to adaptation to the terrain, yes, the shock absorbers in the legs make it easier placement of sensors that allow to know if the leg is on the floor or not, so I plan to implement the walk over rough terrain in this way. Moreover, AX12s have a load feedback, we must see how far we can go with that.

    I am also very interested in audio signal processing, in order to receive voice commands, or dancing to music. In this regard, I want to show you the work I did last year on voice recognition fully implemented in the ATmega128, without the help of any PC or additional chip:

    Also, you can check out my old robots in these links:

    My apologies, these articles are in Spanish, but now I'm preparing one on the new hexapod that is going to be in English and Spanish.

    Thank you very much for your interest.

    Last edited by pabloxid; 03-15-2011 at 01:51 AM.

  9. Re: AX12 Hexapod Robot

    Hi, friends.

    Here is some documentation of my project and the sources:



  10. #10
    Join Date
    Dec 2010
    my lair
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    Re: AX12 Hexapod Robot

    Thanks a lot pablo.

    That's very kind of you sharing your projects
    (mechanics and software) to Trossen people.

    Really appreciate it.

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