Hexapod Robot: Reference Design
The Hexapod robot was designed to evaluate the efficacy of a Q-learning algorithm and explore the ability of learned-walking, using only leg mobility and a reward mechanism to move forward. It has a custom PIC18F4550* USB board for motor control, inverse kinematics, foot contact sensors for terrain adaptation, and 3D balance gestures.
- Fit-PC2 embedded platform
- Ubuntu* 9.04 operating system
- Robotis AX-12, RX-10, and RX-28* servo motors
Processor and chipset selection, peripheral devices, board size, power budget, and thermal analysis.
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