Six legs, eighteen joints
Walking in Gazebo
A six-legged walker doing a tripod gait in simulation, driven live from the keyboard — the terminal on the right is the teleop node publishing velocity targets.
The gait engine turns those body velocities into per-leg foot trajectories, and inverse kinematics turns each foot position into three joint angles: eighteen in all.
How it works
- An inverse-kinematics node solves each leg's three joints from the commanded foot position — my part of the build.
- ros2_control drives all eighteen joints; the tripod gait keeps two triangles of legs alternating between stance and swing.
- The physical build (CAD below): a 624.6 mm leg-tip span, DS3225MG 25 kg servos at every joint, and 15×24×5 mm bearings so the plastic doesn't take the load.
CAD file
Designed in Fusion 360 — six legs of three links each, dimensioned at 624.6 × 247.3 mm in front elevation. The project folder also holds a file honestly named "zamin pe chalne wala keeda" — a bug that walks on the ground. Accurate.
What broke, honestly
Reserved for the failure log: what broke on this robot and how it got fixed. Write-up in progress.