Hexapod CPG Gait Generator: Tripod, Ripple and Wave
Wired White v1 Simulate six coupled Hopf oscillators, blend tripod–ripple–wave gaits, and animate reachable three-joint leg commands. Inspect phase tracking, footfall timing and joint speed.
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Wired White v1 
Hexapod Leg Inverse Kinematics: 3-DOF Cycloidal Step and Workspace
Wired White v2 Calculate 3-DOF coxa–femur–tibia joint angles and speeds for a cycloidal swing. Animate the leg and explore joint-limited workspace and velocity manipulability.
Hexapod Gait Stability: Slopes, Support Polygon and ZMP
Wired White v2 Compare tripod, ripple and wave gaits on slopes and uneven footholds. Evaluate static margin, tipping energy, force-angle reserve and body-acceleration ZMP through a complete cycle.