Hexapod Flat-Ground Locomotion Description (.urdf, 18-DoF)
Flat-Ground Locomotion for the Hexapod — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Hexapod kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
Runs on Jetson Orin; no discrete GPU required.
Frameworks
- GazeboTensorFlowIsaac Gym
Hardware
- Intel RealSense D435i
Sensors
- joint encodersGPS/RTKstereo camera
Specs
- Size: 1.71 MB
- Duration: 10s
- Task success rate 84% over 898 trials
- ROS compatible
- Jetson compatible
- Isaac Sim compatible
Tags
$39
Commercial license
hexapod-flat-ground-locomotion-description-urdf-18-dof.zip · 1.71 MB
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