i beleive i have seen a few photos of your quad somewere before! excelent design, very creative leg design. i am also working on a quad robot but finding it tricky to get the gait right!! i am using BasicAtom pro28 with BotBoard, and an SSC-32 Servo controller with Atmega168!
working on the code for the last year or so but once i get it right ill post it! any tips?
If you wan to get the gait right, the only way is using inverse kinematic for you quad's leg motion. But i do it in different way since i'm not pro in inverse kinematic. What i do is when in design stage i simulate the walking gait at SolidWork, the relative angle of coxa, femur and tibia for each small forward increment distance and record down manually. Plot the graft out for each of the leg servo angle.Linear the graft line and convert it to my program code. U'll get quite gud leg sincronize.
i beleive i have seen a few photos of your quad somewere before! excelent design, very creative leg design. i am also working on a quad robot but finding it tricky to get the gait right!! i am using BasicAtom pro28 with BotBoard, and an SSC-32 Servo controller with Atmega168!
working on the code for the last year or so but once i get it right ill post it! any tips?
Great work!
innerbreed 3 years ago
If you wan to get the gait right, the only way is using inverse kinematic for you quad's leg motion. But i do it in different way since i'm not pro in inverse kinematic. What i do is when in design stage i simulate the walking gait at SolidWork, the relative angle of coxa, femur and tibia for each small forward increment distance and record down manually. Plot the graft out for each of the leg servo angle.Linear the graft line and convert it to my program code. U'll get quite gud leg sincronize.
clh6685 3 years ago
You should maybee add some rupper tips on the legs :)
Other than that , it's REALLY awesome 8D , the fluid movement is shocking.
5/5 , no question about it.
robotwo 3 years ago
Thanks robotwo. I'll keep improve on it.
clh6685 3 years ago