🦂 Hexapod v2.0

🪶 Authors

• Andres Camilo Torres-Cajamarca
• Juan Camilo Gomez Robayo
• Julian Andres Gonzalez Reina
• Emily Angelica Villanueva Serna

👨🏼‍🏫 Tutors

• Ph.D. Ing. Ricardo Emiro Ramírez Heredia
• Ph.D. Ing. Pedro Fabián Cárdenas Herrera

ℹ️ Description

Hexapod v2.0 is a mobile robotic system designed to collect "waste" objects (colored cylinders) randomly distributed within a bounded environment.
The main agent is an 18-DOF hexapod equipped with a top-down camera for robot and object localization through computer vision.
Navigation is assisted using MATLAB (migrated to Python), and motion is controlled through ROS 2 Humble, using predefined routines and a finite state machine.

🐾 Main Objectives

• Navigate toward detected objects.
• Pick up objects using an additively manufactured gripper.
• Transport objects to predefined collection zones.
• Integrate computer vision with trajectory planning.

⚙️ Installation

To use the robot, you must be in the laboratory and work on a computer with ROS 2 Humble installed (ask the team for assistance).
Alternatively, you can use your personal computer.

Prerequisites

• Ubuntu 22.04
• ROS 2 Humble
• DynamixelSDK

Network Configuration

Set up your IP and ROS 2 environment:

ip -a  # Check your IP address
export ROS_DOMAIN_ID=42
export ROS_HOSTNAME=192.168.1.XXX  # Replace with your IP

🤖Usage

1. Connect to the LabFabEx network in the laboratory.
2. SSH into the robot system using the user Hexapodo (ask the lab coordinator for the password).
3. On the robot terminal:

# Rcompile the project and souce it
cd Hexapodo_v2_0
colcon build
source install/setup.bash

# Launch ROS 2 nodes
ros2 launch hexapodo_v2 hexapod_launch.py

4. On your PC (or another lab computer):

# Recompile the project and souce it
clone https://github.com/labsir-un/Hexapodo_v2_0
cd Hexapodo_v2_0
colcon build
source install/setup.bash

# Launch ROS 2 nodes
ros2 launch hexapodo_v2 pc_launch.py

The system will now start the hexapod routines.

💻Simulation

A CoppeliaSim simulation is included and can run simultaneously with the physical robot. Download it here: Hexapod.ttt

📂 Repository Structure

├─ src/                # ROS 2 and Python source code
├─ vrep/               # Simulation scenes
├─ README.md

📽️Examples videos

Here, you can watch some videos of robot working

ObjetoAzul.mp4

ObjetoVerde.mp4

📚More info

For additional details on the project and execution, visit:

• Proyecto FRM 2025-1
• Hexapod UNAL

📧Contact

• Msc. Student Ing. Andres Camilo Torres-Cajamarca ([email protected])
• Msc. Student Ing. Juan Camilo Gomez Robayo ([email protected])
• Msc. Student Ing. Julian Andres Gonzalez Reina ([email protected])
• Msc. Student Ing. Emily Angelica Villanueva Serna ([email protected])
• Ph.D. Ing. Ricardo Emiro Ramírez Heredia ([email protected])
• Ph.D. Ing. Pedro Fabián Cárdenas Herrera ([email protected])