p1:2 – zelda guardian hexapod

In part 2 of this project series, I’ll be outlining the project tasks. There is no time line since I will be working on this in my free time. This is my first time taking on a project like this, so this outline is more of a first draft than a set in stone task list. There will likely be changes to this outline as I work through the project. But by the end of it, I should have a fairly good template for future projects.

You can clearly see my thinking from the outline. I anticipate the most difficult part of this project will be determining equipment specs and doing the programming for the movement and path planning. These aspects require a lot of calculations and math, which need to be worked out before I can convert the equations into code. I’ll be doing this through modeling and graphing, all of which I will be walking through in each of the posts for that part of the series.

Comments and questions are welcome. Note, I am still very new to all this and am learning as I go. I hope you enjoy the experience with me.

  • Planning
    • Requirements
      • Remote control via app
      • Walking that emulates game character
      • Lighting that emulates game character
        • Standard
        • Attack
    • Extra Features
      • Autonomous mode
        • Walks about randomly
        • Obstacle avoidance
        • Detect motion/object and moves toward it to attack
    • Anticipated Materials
      • 3D Printed links and guardian shell
      • Servo motors
      • Arduino or Raspberry Pi
      • LEDs
      • Sensors
      • Wiring and misc.
  • Design
    • Sketching
      • Kinematic model
      • Basic tripod gait model
    • Modeling
      • Base structure
        • Servo motors
        • Control board (Arduino/RaspPi)
        • LED placement
        • Sensor placement
      • Guardian shell
    • Equations
      • Inverse Kinematic Equations
      • Path Planning
      • Torque, speed, load requirements
    • Materials Re-assessment
      • 3D printed links and shell
        • Filament selection
      • Servo Motors
        • Spec and select motor based on torque, speed, load requirements
      • Control Board
        • Select Arduino or Rasperry Pi based on input and processing requirements
      • LEDs
        • Select LED type and colors
      • Sensors
        • Select sensor based on desired feature
      • Wiring and misc
  • Programming
    • Walking
      • One Leg
        • Basic movement
        • Refining movement
      • All Legs
        • Basic movement for tripod gait
        • Refining tripod gait movement
    • Remote Control App
    • Lighting
      • Standard lighting
      • Attack lighting
    • Testing
      • Test control for movement
      • Test control for lighting (attack mode)
    • Autonomous Mode
      • Random walking
      • Sensors
        • Obstacle avoidance
        • Detection and response
      • Attack mode
  • Refinement
    • Adjustments as necessary

Based on the outline above, you can probably see that the planning stage is pretty much complete. For the design stage, it’ll be another 3-4 weeks before my 3D print arrives. While I wait for it, I am procuring a PC in order to run Autodesk Fusion 360, which will be my CAD/CAM software of choice. It’s free for my purposes and is extremely powerful. Unfortunately, it does not run on Linux or Chrome OS, which are the operating systems I primarily use at the moment.

But, before any of the fun with Fusion 360, I need to complete the sketching stage. I’ll hand draw them first, but I will recreate them digitally for posting. Let’s hope I get this part correct because everything else depends on it. Stay tuned for the next post!

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