Using ByteTable to shift the COG

Lynxmotion Legged Robots
1

im using a table on my quadruped project, and so far it works. when walking the body will shift to the opposite side from the lifted leg.

but its not very smooth and kinda fast.
how can i slow it down or make it smoother.

;For GaitType 1 'Leg Input Number 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 XCogShift bytetable 128,118,118,118,118,118,138,138,138,138,138,138,138,138,118,118,118,118,118 ;##GaitLegNr = LR RF RR LF

[code]
;shifting from (LR-RF-RR-LF)
IF (GaitType = 1) THEN ;Ripple Quad gait 18 steps
LRGaitLegNr = 3
RFGaitLegNr = 8
RRGaitLegNr = 11
LFGaitLegNr = 16

HalfLiftHeigth = FALSE
NrLiftedPos = 2
TLDivFactor = 16
StepsInGait = 18
VariableGaitSpeed = 150
ENDIF[/code]

i know i can slow the whole gait using the “VariableGaitSpeed” as show in the gait engine but its still quite jerky.
?

2

I have found an example i have found of what im achieving here. although my overall gait is much faster im still looking to make my cog transition smoother.

3

Jonny, was that one moving? Hard to tell ;>)

Alan KM6VV

4

LOL :laughing:

5

I wonder how much money was put in to that thing only to take tinny slow steps? Technology is at the point where we are beyond the turtle gaits, at least thats what I thought. :laughing:

6

yeah, don’t blink or you’ll miss it. :laughing: