Build A Hexapod Robot in Webots

A Webots project for a hexapod robot featured with Forward Kinematics, Inverse Kinematics and Gait Control

Tutorial

A video tutorial for building this project from scratch is available from my channel on Bilibili (Chinese Language).

Demos

Change the controllers/hexapod.py file to run different demos. For example, walking with IK generated tripod gait:

    robot = Hexapod()
    robot.generate_walking_sequence_ik({
        'Gait':'Tripod',
        'Length': 0.04,
        'Height': 0.06,
        'StepNum':20
    })
    
    robot.walk(robot.walking_sequence_ik)