Hello
I am having trouble with the Biped Scout trying to get it to walk. The first step seems to go ok but getting into the second step it has some balance issues. Also there is a continuous beeping noise it makes. I tried testing each motor by itself to find out which one is making the noise but once the motors are tested there is a noise whether there is one motor connected or all motors connected. Not sure where this noise is comign from. Can anyone help in both issues?
Thank You
It’s going to be hard for anyone to help when you have not explained very much… such as what microcontroller you are using, or what your code looks like…
sorry…i am using the SSC-32 controller and the 6.0vdc Ni-MH 1600mAh battery pack…i have not done much of any programming as yet so was just checking if anyone had a code i could use in Visual Sequencer
Which servo(s) are you using to power the scout? The HS5645MG are a bare minimum, by minimum, I mean that you’d have to be quite creative in getting a gait to work because it cannot spend too much time on one foot, otherwise, the servos will max out and heat up real quick.
I think a few people have gotten the scout to walk pretty nicely. I believe Pete Miles have his Lynx 209 (which is the cousin of the Scout since it’s nearly the same).
Check out videos of the scout like NickReiser’s on youtube.com to get some inspiration:
youtube.com/watch?v=PItPHQWsItM
youtube.com/watch?v=4DYeYkwWQWo
I don’t have a visual sequencer, but I just used the Lynxterm (although the visual sequencer would’ve simplified my process quite a bit), and created a spreadsheet in Excel (or OpenOffice’s Calc nowadays) and sat down and determined how many “steps” it would take to get this thing to do a full walk. I then painstakingly recorded the position that each servo must be at in order for it to do the full “walk” in each of these “steps.”
You can start out with very low amount of steps for a “crude” walk, but the more “steps” (or more commonly referred to as “poses” for humanoid biped) you have, the more smoother the walking motion would look like.
Imagine the making of Gumby, stop-motion style. The more little transitions you have, the smoother it would look when you put it all together.
One word of advice, there is a difference of implementing the first step when standing upright on two feet, then taking subsequent steps due to the balance of the robot being different when the pivot feet being straight (for standing) versus pushing back while walking. The first step when standing still would start a cycle, then each cycle would then repeat itself.[/code]
James made the Scout walk via SEQ program. It’s using 5645 servos. The problem with Nicks walking is it’s just not an efficient gait. Look at our video to see a comparison.
lynxmotion.com/images/video/scout01.mpg
This sequence is much more efficient, and the servos do not heat up as they would when balancing on one leg for too long like Nicks walk does.
