Minty the Hexapod

USYD MTRX5700 Major Project

Hexapod kinematics and dynamics library, deployed on a customised version of the MakeYourPet "Chipo" hexapod.

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🚀 Features

• ✅ Independent longitudinal, lateral, and rotational velocity control
• ✅ Dynamically adjustable gait, step size, and stance height
• ✅ Reconfigurable for deployment on any hexapod

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🔩 Hardware

Component	Description
Microcontroller	Raspberry Pi 5
Servomotor Controller	Pimoroni Servo2040
Servomotors	MG996R
Touch Sensing	Microswitches

See the official repository for hardware STL files and wiring schematics.

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🧠 Software Architecture

• Languages: C++, MicroPython
• Key Modules:
  • brain: coordinates leg actuation with a central pattern generation
  • legs: calculates inverse kinematics to actuate movement instructions
  • controller: provides command-line interface for remote control
  • state_transmitter: communicates the hexapod state to the servocontroller via serial

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📄 License

This project is licensed under the MIT License. See the LICENSE file for details.

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🙌 Credits

• Angus – @TheFlamingBadger
• Prithik – @7echkilla
• Siddarth – @sram8836
• Harry – @hkerms