SES Quadrapod

Lynxmotion Legged Robots
1

I’ve always wanted to make a quadrapod… so I did. Here’s what I came up with. Thoughts?

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Video coming… Whenever I get around to it. :laughing:

2

This one looks real nice, James! It folds up real compact. :smiley: When will you have code ready and a video? :wink:

8-Dale

3

really nice James. love it. nice use of parts too. i like seeing newish parts used that iv not see used before.
great work. look forward to the vid. :wink:

4

Hi James,

Looks like you had some fun over the weekend! Great Job!

Kurt

5

Thanks for the comments! :smiley:

Video will come when I have somewhat proper code. Right now I’m using Phoenix 2.0 code which was roughly hacked in about 5 minutes. Just enough to make it move, not enough for much else, really. :laughing:

[size=50]Although I may make a video of it with this hacked code… It is rather funny…[/size]

6

you have my vote!! :smiley: :smiley:

7

Looking good James!

Fun to see the Phoenix legs being used to a quad too. I think the ARC-32 board would be a great alternative also (less board stacking :wink: ).

8

Great build! I love it!

I always enjoyed looking at designs that are nice and neat while being compact. I marvel at pocket cameras, how they are able to pack in all the hardware in such a small space. Looks cool and I look forward to the video - whenever you get around to it… :laughing:

9

Yeah, it will be much nicer when I don’t have to have a stack of boards. :laughing:

That was pretty much one of two thoughts I had when building it. I wanted it to be compact, and I wanted to use purely SES components. 8)

10

Hi James,

I love the design! Pretty compact!
It shouldn’t be to much work to adjust 2.0 to work for a quad. The new gaits will take up most of the time. Let me know if you’re stuck and I’ll see if I can give you a hand.

Xan

11

Thanks! :smiley:
I’ll be sure to remember that next time I’m working on it, which should be sometime this weekend.

12

this should work well.

[code] ;shifting from (LR-RF-RR-LF)
IF (GaitType = 0) THEN ;Wave 24 steps
LRGaitLegNr = 1
RFGaitLegNr = 21
RRGaitLegNr = 13
LFGaitLegNr = 9

NrLiftedPos = 3
HalfLiftHeigth = 0   
TLDivFactor = 20    
StepsInGait = 24      	    
VariableGaitSpeed = 100    :will need to change this back.

ENDIF[/code]

zenta worked out a good body shift code that i can share if you need it.

when working on my mammalian quad i soon realize that if i build one similar to yours then the code i originally wrote would work well. :wink:

13

I’m all for sharing code but… what, precisely, is that bit of code for?

14

it a quad gait for the code you are using, Phoenix 2.0. if you look though the code and find “Gait Selector” you’ll find it. just add the one i posted to the code. it should work really well. :wink:

15

Ah, ok. I haven’t had time to really dig into the code yet and you didn’t say what it was for so I was a bit confused. :laughing:

Thanks though, I’ll have to try it out. :smiley:

16

no worries, sorry for confusing you. cant wait to see it walk. :wink:

17

NP, send me a mail if you want a quick response and I’ll see what I can do :wink:

Thank Jonny and Zenta as well. The gait will definitely speed up your progress :wink:

Xan