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over the last eight weeks i had rarely time to work on it but still wanted to share this with my beloved community. i changed the chest to house two batteries and added a 3 dof neck and all of this changed the weight distribution so that the PID controlling the spine has to be retuned. i'd love to have a more structured approach in finding the right parameters as this is really hard work. finally, i'll need to upgrade the hardware soon if i want to add arms. the nano right now will not have enough ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/trashbot-v4-9dof-biped-controlled-by-arduino-nano