Documentation 004

Title: Creature (Spider-man: Yes. spider-man, not a spiderman)

The version with only 3 rect The version that is more elaborative

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Originally I wanted to make a worm using the joints that is shown today in class. Because the act of showing made the project less interesting, I decided to add more to it using some PID controls that I have not implemented myself before. But suddenly, the spider-like movement comes into my mind and I have long admire to reproduce this effect. So here it is. The problem is more non-trivial than I thought. It takes some hack. Rotation of the spider legs is harder to implement, so I did some trick to fake it.