Pentapod Robot Stretching using IK Algorithm

After almost 2 months of hard work… the results of the five legged (pentapod) robotic platform are acceptable. For the development of this all-terrain robotic platform, i am using two ARM Cortex M4 microcontrollers using a Real-time Operating System (RTOS) as well as a simple sensory system. The communication between the microcontrollers was established using the Controller Area Network (CAN) protocol as well as a novel encryption/validation messaging protocol above it. Moreover, a novel memory allocation scheme was analyzed and…