Studying at university I had a project of modelling a hexapod robot. Later I decided to put it into practice. So now I'm developing this robot and testing one leg motion and control.
In the future it will be 18 DOF six legged robot acting by Dynamixel AX-12A servos, controlled by Odroid-C2. All the robot details is going to be designed in Solidworks and produced on 3D-printer. It works on Ubuntu Mate 16.04, the code is written in C++ and running ROS.
Here is the first experiment with a robot leg and solving inverse kinematic problem algorithm. Software was written in C++ running ROS Kinetic. A marker was attached to the end of the leg in order to check correctness of the algorithm. Also reference trajectory is a circle.
This is a visualized scheme of software.
Every node has a special function:
circle_traj_generator - forms a reference circle trajectory for the end of the leg