Process

The development of Hexy involved balancing intelligent software with robust hardware. The steps followed included:

1. Imagining the Robot
   The process began with a question: how could a robot be built that adapts to the world rather than simply following commands? This led to the adoption of a six-legged design that is stable, flexible, and durable for rough terrain.
2. Building the Hardware
   A custom power board was designed to operate 18 motors across Hexy’s six legs. The system was optimized for compactness and real-time responsiveness, with continuous monitoring of joint movement for coordinated walking.
3. Programming the Brain
   A predictive controller was implemented to compute optimal steps in real time. This was paired with an inverse kinematics solver running on a Jetson Nano, allowing rapid decision-making.
4. Teaching it to See and Feel
   A camera and IMU were integrated onboard to determine Hexy’s position and orientation. These were fused using sensor algorithms to ensure balance on uneven terrain.
5. Simulating and Fine-Tuning
   Prior to physical deployment, Hexy’s movements were simulated using tools like Pinocchio for kinematics and CoppeliaSim for dynamics. These tools allowed for refined motion planning while maintaining computational efficiency.
6. Putting it to the Test
   Following simulation, Hexy was tested in real-world environments. Lab floors and outdoor terrains were used to iteratively improve locomotion and control in live settings.