CARA Hexapod Robot: Control Algorithms and Gait
2025-07-24
This article details the control system of the CARA hexapod robot. It begins with a homing sequence for each joint, using current draw to detect physical limits. Trajectory planning leverages inverse, forward, and rotational kinematics equations for smooth movement. A trotting gait, combining swing and stance phases, is implemented, allowing for forward movement and turning by adjusting leg angles and phasing.
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Hardware
gait planning