I have started looking at Gait, might implement 6 step ripple gait first. But since I have move all the calculation into floating point, it should give relatively good numerical results. I don't know whether it's the hardware or the software. The main problem with it at the moment remains to be leg-end position accuracy. We had a water tank overflow on the roof tonight, was a bit scary and we spent hours looking at the problem, so didn't do much testing on the new setup. Luckily I made 20 pins, so I can just easily move up all the pins by 1, ie, now using 23 - 41. These two pins interference with each other, ie, control one of them would control the other one too. Found a problem with pin22 and pin32 when using them as servo pins. It's now doubled the length of the original. I have also had a major modification on the legs. I have also started to use micro seconds instead of degrees to write servos. I have now adapted rotation matrix in Body IK algorithm, instead of estimating coordinate changes, i will be using formula derive from rotation matrix to calculate these changes (detail could be found in my last post, IK implementation). I still don't know why that is, maybe the dimension is still not correct, or maybe there are still bugs in the algorithms. I am leaving some space on the right hand side of the board to put a adjustable voltage regulator in, as I am planning to use 8xAA batteries, or 3 lipo 11V batteries in the future.įound a coupld of bugs in the algorithm, thanks to my Excel spread sheet simulation! Now the pitch and roll movements finally work properly, although the legs are still quite unstable. I need only 18 servos for the legs and possibly 2 for the sensors anyway. In theory i could use 48 servos on a Mega board, but I only soldered 20 servo ports, just to keep wires tidy and compact. I wanted to make a servo interface with the shield I bought off ebay, which would making it so easy to install the servos without making a mess. If you want to know How the Inverse Kinematics algorithm works on this robot, please check out my website here: I will post any update from my project here, in the meantime don't hesitate to ask me any question you might have. It's got 18 3-dollar 9g servos, and is using 2 packs 4xAA batteries 4.8V. This robot is based on the Arduino Mega 2560, currently controlled by a WII nunchuck controller. it's kind of messy also, and it requires a lot of tidy ups! I am very happy to share my code, but I don't want you to turn to me after downloading my code and say, "hey you code won't work!" So I won't publish it until I am happy with it. I don't usually have time during the week, so I do most the theory and calculations at nights, and leave the testing, building at weekends. I have seen quite a lot of Hexapod robots on the internet with high torque servos with ATOM processors, but not the amazing Arduino with 9g servos, so I thought it might be a good project building one!
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