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IL LIBRO "BUILD AN HEXAPOD"
Summarizing the six months of research required to build the robot, I wrote the book "COSTRUIRE UN HEXAPOD" which I later translated into English in the book "BUILD AN HEXAPOD"
The entire process of designing and building the robot is explained in the book.
After a dimensional analysis that allows the user to choose the servos needed and thus to understand the dimensions of the robot approximately, the 3D drawing software is introduced Freecad.
The basic use of the program is explained, with everything needed to be able to draw the robot parts.
Once all the parts are drawn, I explain the installation and use of LycheeSlicer which allows you to load STL files and prepare them for printing.
In the setup of that program I illustrate the differences between the resins that will be used to set up the supplied resin libraries.
I then explain how to print the parts with the printer, clean them up, harden them, and assemble them into a finished robot.
The operation of the electronic control circuit is then explained.
After the robot assembly is finished, the procedure for performing the calibration of all servos is explained.
With the hardware completed, software is introduced Arduino IDE with which the robot will be programmed, illustrating the installation of the required libraries and boards.
Geometry related to kinematics and especially inverse kinematics is then treated, with a particularly understandable approach despite the complexity of the topic
Having implemented and tested the operation of the algorithms with Arduino IDE, an implementation is proposed that, despite not being written in assembler, achieves considerable performance.
Once the goal of correctly positioning the legs is achieved, the question of how to control the robot arises.
Of course, a system is developed to control it through the serial interface.
To achieve maximum ergonomics, a wireless interface is created to interface with a PS2 controller.
This interface is implemented as an I2C interface built with an Arduino UNO and modifying the original controller.
Finally, a webserver is also implemented using an ESP32-CAM sceda, which allows the robot to be controlled remotely by obtaining the view from the camera.
This board is also programmed with Arduino IDE, and its integration into the system is explained. Because the PS2 controller was interfaced in I2C, The ESP32 is interfaced via serial, to examine this type of connection between devices as well.
Once the control systems are implemented, several complex movements are analyzed and explained how they can be triggered by the 3 systems.
For all necessary hardware, a supplier is listed on the Internet in order to make it easy to find.
Since the book is intended to be primarily a 'didactic work, emphasis is placed on comprehensibility,