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RaymanRayman Posts: 14,155
edited 2023-09-04 18:27 in Robotics

It's walking better now.
Adding a bunch of caps to the P2 board lets it go a little while cord free.
Need to add a LiPo battery for the P2 though, so has it's own power.
Sharing four AA battery pack with servos isn't a good idea...

P2 is calculating the servo angles in real time using inverse kinematics.
Seems OK, but maybe I'll have it populate arrays of angles and use that instead for more precision.
It's a little shaky and want to try and fix that...

After that, need to see if there's a way to make it change direction on purpose.
Not exactly sure how to do that...


  • very cool walking video! thanks for sharing

  • RaymanRayman Posts: 14,155

    Was just thinking of turning the feet into motorized wheels. That might be fun.

  • ercoerco Posts: 20,255

    Lovely! Great job Rayman!

  • Looks like motion control ain't happening. Are you running PIDs (don't know if you have feedback)?
    I'd say you need to be running the control loops at a minimum of 1KHz and those position commands need to be discretized.

    Unaware of the hardware limitations, though.


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