PENGUIN ROBOT Shag Walker - the Code!
The Shag Walker code is now available.
Some new code parts of the program include
seamless walking, mid air servo centering,
twin motion control engines, a virtual
inertial dampener, end walking, center of
gravity walking, and complete instructions
for adjusting to various carpet. Below are
some clips from the programs comments.
Everything is automatic with the program.
Just turn on Penguin and he walks as
detailed.
Penguin must be calibrated according
to the following instructions:
humanoido
penguin_shag_walker.bpx
Post Edited (humanoido) : 9/24/2007 9:22:59 AM GMT
Some new code parts of the program include
seamless walking, mid air servo centering,
twin motion control engines, a virtual
inertial dampener, end walking, center of
gravity walking, and complete instructions
for adjusting to various carpet. Below are
some clips from the programs comments.
Everything is automatic with the program.
Just turn on Penguin and he walks as
detailed.
Penguin must be calibrated according
to the following instructions:
' The calibration of this program is slightly different. Run the ' calibration program penguin_automatic_servo_calibrator.bpx ' and determine tilt and stride center values. ' Go to the declarations section of this program and put the values ' into two statements. For example, if the center values were both ' 1900, follow the example below. ' CenterTilt CON 1900 ' this is the tilt center value ' CenterStride CON 1900 ' this is the stride center value
humanoido
penguin_shag_walker.bpx
humanoido said...
Penguin can walk any number
of cycles by changing the FOR NEXT loop
in the main program. Upon completion, end
the walking cycle with the subroutine EndWalk.
This does a mid air centering of the stride
servo to avoid any conflict with the carpet.
Walking speed is set with two subroutines - Shag
Walking and End Walk Cycle.
[i](some clips from code comments)[/i] ' INTRODUCTION ' ------------ ' With Shag Walker, Penguin can walk in thick shag carpet. The ' techniques involve VIDs Virtual Inertial Dampeners, TME twin motion ' control engines, stepping high enough, moving high to center, MASC ' Mid Air Servo Centering, and doing the shag walk slower than a standard ' walk to keep better balance. ' SPECIAL FEATURES OF THIS PROGRAM ' -------------------------------- ' VID - Virtual Inertial Dampeners ' DME - Dual Motion Control Engines ' MASC - Mid Air Servo Centering ' SR - Safe Routine ' COGW - Center of Gravity Walking ' EW - End Walking ' ABOUT SHAG WALKING ' ------------------ ' Shag Walking is very stable. It can be incorporated into most ' code requiring a basic walk. The walking gait is very smooth ' and deliberate. ' (COGW) CENTER OF GRAVITY WALKING ' -------------------------------- ' Penguin does COG walking where the center of gravity is more ' over the foot. This is achieved with a slightly greater tilt ' range on the tilt servos. This results in greater balance ' potential for walking on a greater variety of carpet. ' DIRECTORY '---------- ' INTRODUCTION ' CALIBRATION ' SECONDARY CALIBRATION ' SAFE ROUTINES ' CALIBRATION NOTES ' SPECIAL FEATURES OF THIS PROGRAM ' ABOUT SHAG WALKING ' (MASC) MID-AIR SERVO CENTERING ' CONTINUOUS WALKING ' SEAMLESS WALKING ' WALKING STEPS ' (EW) END WALKING ' (COGW) COG WALKING ' TYPES OF CARPET ' LIST OF CARPET TYPES ' ADJUSTMENT TIP ' (DME) DUAL MOTION ENGINES ' (VID) VIRTUAL INERTIAL DAMPENERS ' PROGRAM ' FOR FUN ' SOURCES
Post Edited (humanoido) : 9/24/2007 9:22:59 AM GMT
