Moveit for Hexapod Robot

asked 2017-05-24 21:23:00 -0500

chronius gravatar image

updated 2017-05-25 10:51:22 -0500


I'm using MoveIt to move a hexapod robot. My question, is what should the end effector be in the case of a hexapod? I know that each leg has an end-effector, and I already can control each leg individually, but how can I control the robot as a whole? But this I mean move the robot up, down, rotate, etc.

Another question, Is possible to generate gaits for the robot movment using move it? If so, how can I design this?

URDF Image:

MoveIt Setup:


MoveIt Setup

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Note: it's bad form to ask two questions in a single post, but for your second question: I don't believe MoveIt was written with gait generation in mind. It can probably be used (sort-of as a library) to do something like that, but it doesn't have anything out-of-the-box.

gvdhoorn gravatar image gvdhoorn  ( 2017-05-26 03:49:27 -0500 )edit