Hexapod robot

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. Learn more video.

  • Fit-PC2 embedded platform
  • Ubuntu 9.04 operating system
  • Robotis AX-12, RX-10, and RX-28* servo motors

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