For a semester project at the University of Sherbrooke, an articulated robot needed to be designed with atleast 3 DOFs. The Big Hero 6 team decided to make an hexapod simulating a scorpion. It needed to move in all directions (forward, backward, turn around, etc...) and have its own tail.
In this repository, you'll find all the source code to run the project yourself. You'll find a Qt6 GUI and a ROS2 package running the entire project on Ubuntu 24.04 LTS. You'll also find the microcontroller code and every dependency needed to run the project.
For more information about the overall design (mechanical, electrical and programming) as well as a tutorial on how to set everything up, take a look at our wiki. It contains all necessary CAD files, electrical wiring schematic and code environment setup needed to run the project.
Here is a look at the final product:
scorpius_walking.mp4
The Big hero 6 team is made of six members, separated in different subteams according to interest : mechanical design, electrical design and programming.
From left to right:
- Olivier Rathé : Mechanical subteam coordinator
- Javier Morin : Member of the mechanical design subteam
- Anibal Arango : Assistant team leader, electrical and programming subteams coordinator
- Étienne Bélanger : Team leader, member of the mechanical design and programming subteams
- Charles-Éloi Lafond : Member of the programming subteam
- Simon Pearson : Member of the programming subteam
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