Lynxmotion 209 algorithm

Lynxmotion Legged Robots
1

Hi,

I recently assembled a 12-servo lynx 209 and need it to start to walk by programming.
What algorithm(s) do I need to keep it balanced and what prerequisite maths knowledge do I need to obtain to start with. I want to learn from the basics that relevant to my project. Do I need to know the rotation Matrix and IK ?

My appreciation in advance.

2

Can you give us a list of the electronics you are using? Microcontroller, servo controller and servos, as well as the robot’s layout? Some photos would be appreciated as well.

3

Thank you very much for your reply.

Components:

  1. SSC-32U servo controller board;
  2. Arduino UNO board;
  3. NiHm 6volt battery pack;
  4. Mophie Iphone Charger (as a independent power supply for the arduino board);
  5. Standard Lynxmotion 209 parts;
  6. 12 futaba s3003 standard servos ( will upgrade to HS-5645MG for more torque requirement);
  7. jumper cables ( will upgrade to 18’’ heavy duty servo wires)
  8. a ps2 controller and a receiver (not shown in the photos);
  9. Switcher

Except jumper cables, all the others parts come from Robotshop.

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IMG_0805.JPG3264×2448 1.15 MB

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IMG_0803.JPG3264×2448 1.42 MB

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4

At this time we don’t have a walking algorithm for that type of legged motion. Perhaps someone from the community can provide some insights.
The only approach we can suggest is to modify the BRAT walking code to add an additional degree of freedom.
github.com/Lynxmotion/Brat
Note that your lexan components still have the protective covering (it looks much better removed).

5

Greatly Appreciated, Coleman.