Building the STALKER quadruped tilted coxa chassis

innerbreed · August 14, 2011, 12:21am

ah… would that be:

[code]RotateLeg [PosX, PosZ, RotationY]
CPR_X = PosX
CPR_Z = PosZ

GOSUB GetSinCos -BodyRotY1-(RotationY*c1DEC)]
SinA4 = Sin4
CosA4 = Cos4

LegRotPosX = (CPR_Xc2DEC - ( CPR_Xc2DECCosA4/c4DEC - CPR_Zc2DECSinA4/c4DEC))/c2DEC
LegRotPosZ = (CPR_Zc2DEC - ( CPR_Xc2DECSinA4/c4DEC + CPR_Zc2DECCosA4/c4DEC))/c2DEC

return [/code]

i would have thought we would also need to incorporate a LegRotPosY? as the tilted offset would effect all axis? You know programming is not my forte.

innerbreed · August 15, 2011, 11:05pm

i think ill be ordering the Arc32 for this. Its always been a pain fitting two boards into a robot. ill enquire about pricing this week. im leaving the Green Board Team…and moving to the Red Board Team. lol

dialfonzo · August 15, 2011, 11:22pm

Maybe the “blue” board team? “Arduino”

innerbreed · September 1, 2011, 2:24pm

From concept idea to finished parts, and a trip the other side of the world in 26days.

Thanks Eric.

zoomkat · September 1, 2011, 10:47pm

Has a method of making it walk been developed? If nothing is changed from the angular leg setup of the origional, then you will probably have to develop calculus based differential equasions instead of trying to use the usual algebra/geometry/trig formulas.