Interactive Hexapod Solver

Try it out here!

Details

The 3D visualization is powered by the three.js library. The inverse kinematics calculations use trigonometry for a closed-form solution, while forward kinematics leverage Denavit–Hartenberg parameters. Animations are achieved using Catmull-Rom (centripetal) splines for interpolation and Bézier curves for easing.

I am still in the process of commenting and refactoring the code. Feel free to report any issues you face!

Running Locally

First make sure you have Node.js and npm installed!

git clone https://github.com/mut-ex/hexapod-simulator.git
cd hexapod-simulator
npm install
npm run dev

Then open http://localhost:5173/ in your browser.