Spyder IK

Motion planner for Spyder

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Introduction

Spyder IK is a motion planner for Spyder which produces LUTs for various gait patterns. The library exposes:

• SpyderBuilder used to specify physical parameters of the hexapod robot
• Spyder controls 6 legs, walk sequence and exposes LUT generation

Usage

let mut spyder = SpyderBuilder::default()
    .leg_params(42.25, 120.0, 180.0)
    .home(160.0, 0.0, -100.0)
    .azimuth_angle(60.0)
    .cw_ang_resolution(10)
    .build()
    .unwrap();

let lut = spyder.generate_lut(&Trigait::new(160.0, 180.0, 35))?;

Contribution

You can contribute to the project in the following ways:

• Testing and debugging.
• Writing code that adds new functionality to the project.
• Improving or expanding the current features.
• Expanding or improving the project documentation.
• Sending suggestions, bug reports, and requests for new features or changes.
• Help integrate new components.
• Help with reviews.

Any contributions in these areas are welcome!

Licence terms

As per the LICENSES directory, this repository is provided under MIT license unless otherwise stated in the directory, or file itself.

The Spyder project is Copyright 2026 Codethink Ltd.