Well I did my best to get some good footage, but I had some problems. I’m using the old EH2 code written by Laurent Gay. I need to go in a change some values because as it is, it does not allow the full range of the vertical servos. I.e. Not as much ground clearance as is truly available. I plan to give it another go later. But for now here is the video. James compiled some of the clips into a video with music. Thanks James!
Awesome!
Great video, this demonstrate that the tripod gait works very fine for terrain walking. And thinking of the strength of the 2 DOF construction where the femur/leg lift servo locks itself in postion this works even better.
I was thinking of a walking tank when I saw it. 8)
thumbs up. 8)
video compilations looks great. very fast. looks very cool going slower.
i think those legs would look great on your new mini round hexapod chassis. 
It might look good, but 2 DOF leg has some limits and works best on an inline body.
lol
I thought I would take a few minutes and post some images of the new production model of the AH2-KT.
I like it.
Powerpod for code? I suppose one could adapt the Phoenix code…
I’m not seeing a chassis or leg kit for it yet. Soon?
HS-475/485 servos OK?
Hum, SSC-32 could control by it’s self? (old code)
Alan KM6VV
Nothing so complicated… It’s literally only a few commands to set it to walking with zero maintenance from the host microcontroller. It’s the little known sequencer built into the XE firmware.
Set the vertical position ranges of the gait.
RH = 2000
RM = 1333
RL = 1000
LH = 1000
LM = 1667
LL = 2000
Set the horizontal position ranges of the gate.
LF = 1700
RF = 1300
LR = 1300
RR = 1700
Set the vertical and horizontal speeds
HT = 1500
VS = 3000
To walk you set the XL and XR examples.
Forward
XL = 100
XR = 100
Reverse
XL = -100
XR = -100
Left Turn Gradual
XL = 50
XR = 100
Right Turn Gradual
XL = 100
XR = 50
Left Turn In-place
XL = -100
XR = 100
Right Turn In-place
XL = 100
XR = -100
XS sets the walking speed from 0 to 200%
XS = 100
After this is done the bot is walking with no other commands. Set it and forget it. Just send the three XL, XR, and XS commands to change the walking speed or direction at any time. To stop the sequencer just send XSTOP. 8)
That’s what I was remembering, the SSC-32 had that built-in. Still in there, or did it come out for the sequencer?
Easy to run then, but one still needs a host uP. Yeah, maybe give it one of my old BasicAtom chips.
Price and availability? Servos recommended?
Alan KM6VV
Yep, it’s in the default firmware EX version. We yanked it out for the GP version.
Works fine with 322 and up! lol That’s the beauty of the mechanical advantage leg design. A little more power on the servos wouldn’t hurt though.
We haven’t defined the price yet. It’s getting some preliminary parts bags made today, then a couple test builds. The docs are coming along as well. Will post links here soon. 8)
good to see more picture jim. she’s a beauty. looks great with the arm attached. 8)
Works with '322 servos? Then I have a bunch that should drive it fine.
I’ll be watching for the AH2 (for some reason, I want to call it an AH12) debut.
Alan KM6VV