Hexapod kinematics simulator

Drag to orbit · scroll to zoom · right-drag to pan · in Feet mode drag a foot target (Shift = vertical)

stance arcs = where a foot can be on the ground · residual = how far the IK solution misses the target

Joints Feet Body Gait

Joint sliders (hip yaw / knee pitch)

Foot targets · IK

IK mode

Drag the orange spheres. A 2-DOF leg reaches only a surface: the residual is the distance left after the best joint choice; red = clamped at a joint limit or out of reach.

Body pose · body IK

Feet stay fixed on the ground while the body moves; the residuals show what a 2-DOF leg cannot follow (even lowering the body straight down needs radial slip).

Tripod gait

joystick: up = forward (vx), left = +vy

yaw rate0.00 rad/s

max speed40 mm/s

step length20 mm

step height5 mm

period1.00 s

duty0.50

sim speed1.0×

t = 0.00 s

slip

0.00 mm

Slip = largest radial IK residual of a stance foot (the foot is dragged that far across the ground per half-stance). Straight walking is first-order slippy for the diagonal legs; turning in place is almost slip-free.

Joints · motors · residuals

leg	hip°	knee°	hip motor°	drum°	resid mm		flag

View

Recording

0 samples

Records t, joints (rad), motor angles, feet, body pose, command and stance flags each frame; use the JSON as firmware test input.