bioloid spider king controlled with IK in C++
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Uploaded by fgibon on Dec 12, 2011
this is the bioloid spider king kit, but it is controlled from my computer with visual C++. a few facts:
- the robot is controlled with inverse kinematics (the body goes straight left if the controller stick is pushed left etc...)
- the robot speed ONLY depends of the stick's postion and never slows down if the legs positions are too stretched.the algorithm anticipates positions
- the C++ program is 450 lines long, 380 lineswithout the diagnostics and initialization lines
- the time during which both sets of legs are down is controlled by a parameter, it is possible to set this time to 0 (ie leg sets change states at the same time)
your comments are welcome, I have a lot to learn yet!
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