AND… also a small video **Demonstrating ** some of the gaits.
obviously many of these gait will not work on this robot but they are **examples ***of quadruped gaits. *
some included:
Wave,
Ripple,
Trot,
Pace,
Gallop.
im still working on getting the body to shift the COG before any of these gaits can really be tested.
Looks really good but with it’s high CG, I would assume there would need to be a very aggressive balancing algorithm to make it workable. I think it can be done but developing a dynamic system capable of fast accurate placements of the legs is going to be a challenge, it would be for me anyway since code is not one of my strengths.
yes this has already passed my mind. in fact i keep looking at it thinking of mechanical solutions.
i would rather have the code handling this problem but it would take longer.
i may change the way the tars behave. so i can add some form of flat foot.
at the moment they work by Calculating the Tarsals rotation relative to the Hip/Knee
IKTarAngle = IKHipZAngle - IKKneeZAngle
this give each leg the extra reach and resolution in each step, as seen in the vid.
if i was to reverse the tar command then they would always point down allowing for a flat surface to be mounted on the bottom. making more surface area to spread the load.
yes the code is a modification of Xans 1.3. works really well so all credit to him.
converting the code was the easy part. but implementing the extra shift and turning control will be far more of a challenge.
i have really tidied up the code and im happy with it so far. just need to work on getting it to walk without aid.
i have been thinking about the force sensors when they become available so that might be the next phase. think im just making it more difficult for myself.
I was pretty amazed when I saw your vid on youtube! Nice job!
I think you’re working on a great project that has some nice posibilities. Like SN96 said, the COG is pretty high so that will need some special attention. I bet the 5DOF is fun to play with because you can lock them and add an extra DOF when you’ve got fully controll of the previous ones.
Thanks Xan for your comments.
yes the high COG is one of my main problems at the moment. in till i sort that then i can work more on the body shifting. im open to ideas.
5dof is fun. with the tars working the way they do it makes the leg motion look really smooth as you say. i have learned quite a lot regarding programming on this project so that’s the biggest bonus.
[size=150]Some little bird told me you wanted to see it walking…[/size]
do ya…do ya?
I have managed to get it walking using the 28 step wave.
the other gaits seem to slip about more. i may start studying the gaits again to see what can be done. im still working on body shifting so that may be the key. I t s - f i r s t - s t e p s:
i knew as soon as i reversed the command for the tars that it wouldn’t look as graceful but then again if i dont explore different ideas ill get no where.
i have started playing with the other great features of Xans 1.3 code and i have noticed that when using Balance mode all the legs just start moving on there own. i have changed the balance variables from Sword to Slong and its still the same. is there more i can do. do we know the reason for this?
thanks for the comments.
i have moved the battery to the underside of the body. this has really helped with the overall balance.
but before i did this i thought id take a photo of the underside so you can see how i joined the front and back together using the steel hex-standoffs. if anyone’s interested. http://i531.photobucket.com/albums/dd355/innerbreed/100_2147.jpg
Your latest video was really cool! A little to big feet maybe but its a beginning. Keep up the great work!
FIY the balance mode won’t work very well for a quad. I did some improvements to the balance function in Xan’s V2.0 code. In the v1.3 code the balance translations affects the GaitPos variables directly. So when the balance function are “unbalanced” the legs will start moving by itself.
