The SSC-32 software sold on
The SSC-32 software sold on Ebay by RobotShop is the same as the one sold on RobotShop.com
Walking algorithm?
Are you trying to create a walking algorithm from scratch or adapt one? A few more details would help. Thanks.
Ok do the front and rear
Ok do the front and rear legs movements determine how far each loop travels forwards. Like right now im using F5 out to R15 in for the front legs and it moves about an inch. If i move the tibias out further like to 10* and the femur come down 10* (est) and come back up to 0* while the tibs come in 15. Would that give me more distance. I would also give the mid legs more distance too between R15 and F15 in stead of my R10 to F10 i have Now.
Heres a link to my latest
Heres a link to my latest ripple test…
http://youtu.be/tjq1DxMiDGo
They are getting better but i having a hard time with tibia placement. Shown is at 10 out 15 in but that doesnt seem enough, and the first leg tib still drags a lil causing it to veer right a lil.
Its kinda jerky too. I wish it was smoother. If straight up coded these movements instead of using a sequencer would it flow better?
Ok im really starting to
Ok im really starting to think about coding my bot instead of all this sequencer stuff. But i have a few questions.
First is it possible to write each legs movements, for example..... Make leg one lift, rotate forward, drop and reverse in a specific time. Then write all the other legs the same way but some how delay it so each leg runs in the order i want?
Any links to an example would be appreciated.
Coding a Hexapod Walking Gait
Creating a natural walking gait for a robot is not the easiest, and then implementing terrain adaptation is even harder. Really suggest starting with existing code like the one used on the Phoenix (Arduino and Basic Micro compatible). The SSC-32U servo controller has a built-in 12DoF hexapod sequencer, but not sure what it would take to extend that to 18DoF since it’s part of the firmware. If you have an SSC-32U you can also use FlowBotics Studio since there is an app for a 12DoF hexapod which can be easily modified for an 18DoF walker (all of the functionality is there and the program has actually been simplified for use with the MH2):
https://www.robotshop.com/en/flowbotics-studio-download.html
You seem to be progressing though, so don’t necessarily give up. You might try contacting some of the Gurus of walking robots on the RobotShop Forum: Zenta, Xan, Kurte: https://www.robotshop.com/forum/ They all have tons of experience with walking robots and Lynxmotion wouldn’t be where it is without them and others…
The problem with using
The problem with using sequencers is that there is always a short delay between each frame. Which makes it look jerky. So if your moving each leg from it starting point to its end point in 6 moves, its not gonna keep moving the whole time it pauses.
I suppose i could mess with the time a lil bit on the sequencer. Say like...........
Leg 1= lifts forward to F25* pushing tibia out to F5*
Leg 1= drops femur down F10, leg 1 reverses from its drop position to its rear position with out splitting into 6 moves between the two points. Just make time on the reverse as long as it would take to get to those places then repeat.
Does that make sense?
I would love to use the phoenix code but is it universal or will i have to start changing a bunch of stuff to get it to work with my bot. Im just learning to understand code. I dont know about having to change stuff.
The arbotix system is
The arbotix system is awwesome too. It even comes with a kinematics solver. The only problem is it only accepts a certain type of very expensive servos and theres no way to use the hobby servos used in most bots.
Its not that designing a
Its not that designing a good natural gait is hard more than it is time consuming. Could have been quicker but i wasnt checking my degrees properly just going for it. What im using now is 15 out 15 in and vice versa with the front and rear legs. Femurs moving down to F10 degrees and coming up to 0*. Its jerky but still gives the right effect as it moves. I ended up making all the leg down motions frames at half the speed which helped a lot. If i could code it i could make it smoother i think.
Having a problem with the lead legs getting getting hung and wont lift. Ill make a video later once i figure that out.
Ok im trying to push myself
Ok im trying to push myself to buy the Lynxmotion boards (botboarduino+SSC-32). How hard will it be to get the phoenix code running on my Hex? Is there some kinda config that lets you dial in your XYZ? Do i need to know IK? Can a beginner in programming do this?
Phoenix Hexapod Walking Gait Tutorial
Follow this tutorial: http://www.lynxmotion.com/images/html/build99f.htm