Hello all,
I’ve been working on trying to get my 4DOF T-HEX to walk over small objects somewhat gracefully, i.e. textbooks, laptops, wallets and other objects 1-3 inches tall, but he often runs into the objects and ends up pushing them because he can’t step high enough to clear them.
In some of the youtube videos I’ve seen posted online, I’ve seen the T-HEX model do a high-step, i.e. lift it’s legs an inch or two higher than normal as it walks. Is there a stock gait that can accomplish this or, if not, does anyone have tips and/or example code to help me do it programatically?
Thanks for your time!
John
EDIT: Should have included this information originally. My set-up is essentially out-of-the-box, using BASIC Atom Pro and SSC-32, configured and coded using the Lynxmotion tutorial. Controlled by PS2 Controller
Can you point us to a video and when the gait you are interested in is on the screen? The only trick I know of is to use the D-pad up to lift the body. You might try a Tripod gait and the balance mode turned on. Also use the D-pad left to slow the motion down a bit. All the videos use the stock program in the tutorial as far as I know.
Pressing
R1 Toggle Double Gait Travel Speed
R2 Toggle Double Gait Travel Length
I just tested this. You want to press R1. It says it doubles the gait travel speed, but in real life it lifts the legs higher. 
Thanks! that helped a lot, but i think i might need more versatility. i may end up going with the foot sensor add-ons (okay, not need, actually, but want because its cool 8) ), so that the robot can walk on very uneven surfaces and know when/where to put pressure rather than flailing one or two legs while the others get stuck.
Are the foot sensors usable on the 4DOF t-hex? and are they usable in the code and on the bot board?
Terrain adapting has not been done with the ground contact sensors yet. We made the ground contact tibia as short as possible, but it still adds to the length of the 4DOF version. If you want plug and play I would recommend you wait a bit.
