## Aspects of hexapod

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pjburton
Posts: 5
Joined: 14 Mar 2020, 01:25

### Aspects of hexapod

I am trying to build a model similar to the hexapod tutorial. I would like to know how to set up the inverse kinematics so that the feet remain fixed and the body moves with the legs adapting. I would also like to know how the hexa_legBase dummy is connected to the hexabody object, as this does not seem clear from the scene hierarchy.

pjburton
Posts: 5
Joined: 14 Mar 2020, 01:25

### Re: Aspects of hexapod

When I try to replicate the hexapod, what happens is the feet move and the base remains stationary. I would like the base to move and the feet to remain stationary.

fferri
Posts: 556
Joined: 09 Sep 2013, 19:28

### Re: Aspects of hexapod

Is the base static?

coppelia
Posts: 7706
Joined: 14 Dec 2012, 00:25

### Re: Aspects of hexapod

Hello,

when building such a model, make sure you start first with a static robot, and have the IK worked out first.
There are probably several ways to do this, but I'd model the hexapod in following way:

Code: Select all

body --> baseDummy --> foot1TargetDummy
--> foot2TargetDummy
--> foot3TargetDummy
--> foot4TargetDummy
--> foot5TargetDummy
--> foot6TargetDummy
--> leg6Joint1 --> leg6Link1 --> ... --> leg6Link3 --> foot6TipDummy