My brain’s getting itself in gear to make my Hexy do some awesome things, but I don’t have any experience programming robots. I’m hoping that my Engineering Mechanics/ Dynamics lectures should suffice to walk me through the kinematic side of things (determining where limbs/feet will be for a given set of control inputs), but I’m going into totally new ground with inverse-kinematics (determining the control inputs necessary for a given position of limb/foot).

Two branches here then:

Kinematics

[ul]

[*]What are the centres of rotation for the “hips” of a Hexy (ideally from an obvious point on the body) in Cartesian co-ordinates (in mm if possible)?[/*]

[*]How long are each of the sections of the legs (from centre of rotation to centre of rotation)?[/*]

[*]What have I forgotten to ask regarding making a kinematic model of a Hexy?[/*]

[/ul]

Inverse-Kinematics

[ul]

[*]What are good online resources for learning about inverse-kinematics?[/*]

[*]Does anyone have any clever ideas for algorithms to determine an exact solution to the problem, given the non-trivial nature of this beastie?[/*]

[*]What have I forgotten to ask regarding making an inverse-kinematic model of a Hexy?[/*]

[/ul]