# Hexapod


## Resouces or Inspiration

The pheonix code stuff is kind of old but look up this guy and his repos supports a quadmode also:
https://github.com/KurtE/Arduino_Phoenix_Parts
See also https://www.robotshop.com/community/robots/show/interbotix-phantomx-hexapod 

[Hiwonder SpiderPi](https://www.hiwonder.hk/products/robosoul-spiderpi-ai-intelligent-visual-hexapod-robot-powered-by-raspberry-pi). Uses python, but fuck if I can find the code.


### Markwtech

A very nice project. Available on thingiverse an

https://markwtech.com/robots/hexapod/
https://www.thingiverse.com/thing:3463845?collect



## Gates
tripod, ripple, wave walking gates
adaptive gate to walk on uneven terrain. The interrobotics guys did this with the robotis api.
Translate and rotate in place