I think it's time to present my big hexapod (I named it Cronos):
This is a 4 DoF robot, using 24 TowerPro MG996R servos. It is controlled by a BeagleBone Black, using a custom cape (mostly a breakout to connect up to 32 servos), with assembly code on PRU to drive them synchronously.
I also wrote Py4bot (http://www.py4bot.org) a complete framework in Python to drive the robot.
This robot (which is the second one I build, after a small prototype), walked for the first time last saturday, during the Journée Portes Ouvertes of the Laboratoire Ouvert Grenoblois (https://www.logre.eu/wiki), a french hackerspace.
There are still a lot of things to do, on the robot itself, and on the framework, but I'm really happy to have reached this point
Future devs are:
- test legs sensors (simple switchs) to detect floor, and so allow the robot to walk on non-flat surfaces;
- switch to RPi3, using PCA9685-based boards to connect servos. I will be able to replace PRU code by simple Python code (using several process to take advantage of multi-cores), and so generate smarter trajectories;
- rebuild the servo bracket mount (simpler and stronger);
- find a better way for wiring;
- design a new robot (better look) with arm+grip;
- fix and improve the Python framework.
This is a long term project, and it will take me some months to achieve all this, but it is fun!
Thanks for any feedback.