From Bits to Legs to Locomotion - Building a Hexapod from the Ground Up

Explore the process of designing and building a six-degree-of-freedom (6DOF) hexapod robot from scratch in this 46-minute conference talk from linux.conf.au. Delve into the world of six-legged robots, understanding their versatility and static stability. Learn about the challenges and trade-offs involved in creating an inexpensive 6DOF hexapod, including hardware and software considerations. Discover the intricacies of inverse kinematics and gait algorithms that enable hexapods to walk without tripping. Gain insights into topics such as prototype development, electronics integration, firmware creation, and part selection. Perfect for beginner and intermediate hobbyists interested in advanced robotics, this talk provides a comprehensive overview of hexapod design and construction, from initial concept to functional locomotion.

Intro
The first hexapods
Why is the hexapod body plan successful?
First computer controlled hexapods
What's this "degree of freedom" thing anyway?
Inverse Kinematics
Single Leg IK
Scaling up Ctrl-C, Ctrl-V
Prototype #2 Turning a robotics project into an electronics project
Endless Possibilities (Part Selection)
Firmware? STM32 Crash Course
'Hierarchies of Datasheets Finding (large) needles in haystacks?
CMSIS & HAL Register Definitions
Ordering Parts What could go wrong?
Locomotion! Gait & 6DOF IK