Introducing The Kraken!
A Candy Serving Hexapod Robot
Summary:
The Kraken uses real-time dynamic gait generation. As a result, the Kraken can generate smooth walking motions at any velocity, height, or rotation mid-step.
The Kraken is made from a M3 Cortex, 24 AX12 servos, and a custom 3D-print PLA Frame. It can run 2 hours no-load, or 1 hour with an extra 2 kg load (so much candy!). Still in order to save batteries between the many groups of trick-or-treaters, the Kraken can sit down and power off motors.
The Kraken will serve candy this Halloween, however outside of holidays, it serves as a mobile multi-purpose robot platform for Linux/Android via built in Xbee, USB, and wireless port interfaces.
The Kraken was designed, built, and programmed in a whirlwind 2 weeks by myself!
Check out The Kraken source code at:
https://github.com/TheoEnns/kraken
Software, design, and construction by
Theodore Enns
Happy Halloween!
Note: One of the leg servos in this video is broken. Can you spot the malfunctioning leg with the loose wire?