Hexapod Example 1

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yrg
Posts: 5
Joined: 17 Jun 2020, 21:49

Hexapod Example 1

Post by yrg »

Hello. Where could I find the hexapod example 1, which is controlled in a distributed approach?

coppelia
Site Admin
Posts: 7928
Joined: 14 Dec 2012, 00:25

Re: Hexapod Example 1

Post by coppelia »

Hello,

are you referring to the very old version of the hexapod robot? Where each leg would have its own child script and receive instructions from the body of the robot?
That model is deprecated and not a good example, since it used also deprecated API commands.
What is your purpose with it?

Cheers

yrg
Posts: 5
Joined: 17 Jun 2020, 21:49

Re: Hexapod Example 1

Post by yrg »

Thank you for your reply.
Yes, that is the model I'm looking for. I'm a newcomer to CoppeliaSim, and I am working on a legged robot. I want to learn the distributed control strategy for legged robots from that model.

Regards

coppelia
Site Admin
Posts: 7928
Joined: 14 Dec 2012, 00:25

Re: Hexapod Example 1

Post by coppelia »

You can reproduce that model based on the hexapod.ttm model: simply attach a child script to each leg (or first joint leg) and have each child script be in control of only its own leg. Data or higher-level control could come from the child script attached to the body of the robot.
Look here for the various means of communication between the various child scripts.

Cheers

yrg
Posts: 5
Joined: 17 Jun 2020, 21:49

Re: Hexapod Example 1

Post by yrg »

Thank you for your response. I've made my model work by looking at the "rollerWalker.ttm".

coppelia
Site Admin
Posts: 7928
Joined: 14 Dec 2012, 00:25

Re: Hexapod Example 1

Post by coppelia »

ow, correct, forgot about that one ;)

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