Walking Around

hkstaub · January 2, 2007, 11:07pm

How does the robot walk? I am trying to understand the sequence of movements of the BRAT’s legs.

I am really asking which part moves first, then the next and so on. My idea is the hip rotates a bit then the knee and then the ankle. But there is something subltle about the sequence as a whole. I have done a bit of Looking at other sites about robot walking and find that there is an issue of where the center of gravity remains during the walking movement.

If anyone knows the secret please let me in on it. Or if someone could be so kind to direct me to the information I would appreciate it.

Thanks

H

italian_guy299 · January 2, 2007, 11:34pm

check ou the Videos on the LM website.

robotdude · January 3, 2007, 2:51pm

You can look at the projects that were created by the Sequencer for walking. They are text files that contain the servo position angles. The BRAT walking gait is suprizingly simple. I think only 4 steps are involved.

move ankles to shift weight
stride 1
move ankles to shift weight
stride 2
repeat.

hkstaub · January 4, 2007, 2:37am

Thanks I will do that.

H