User Guide

Lynxmotion SSC-32U Servo Controller Board
Electronics Guide
Visual Pin Assignment for Hexapod Sequencer
The walking sequence consists of 8 states, numbered 0-7. The gait uses an alternating tripod
gait (three legs up, three legs down) to walking, with six possible locations of each foot.
The tripods are labeled Tripod A and Tripod B.
● Tripod A consists of {Left Front Leg, Left Rear Leg, Right Center Leg}
● Tripod B consists of {Left Center Leg, Right Front Leg, Right Rear Leg}
They are defined below:
View of the leg from the side for each group of three legs
While walking, the legs pass through 6 points: (Low Front), (Low Center), (Low Rear), (Mid
Rear), (High Center), and (Mid Front). "Center" refers to the mid-point between the Front and
Rear positions.
State
Vertical Servo
(Tripod A)
Horizontal Servo
(Tripod A)
Vertical Servo
(Tripod B)
Horizontal Servo
(Tripod B)
0
Low
Front to Center
Mid to High
Rear to Center
1
Low
Center to Rear
High to Mid
Center to Front
2
Low
Rear
Mid to Low
Front
3
Low to Mid
Rear
Low
Front
4
Mid to High
Rear to Center
Low
Front to Center
5
High to Mid
Center to Front
Low
Center to Rear
6
Mid to Low
Front
Low
Rear
7
Low
Front
Low to Mid
Rear
28