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onyx6 20131025 Quadruped walking robot with Robotis Dynamixel MX-64 servos

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Published on Oct 26, 2013

I've had a lot of trouble with these servos running them with 4S (14.8V) batteries and a fast gait. They end up generating enough spikes on the servo bus to kill themselves and their neighbors, even though they are within spec.

After having all of the servos reconditioned/repaired, I am now using 3S (11.1V) batteries and a much slower gait. To compensate for the lower voltage, I am also removing weight -- instead of a 4000 mAh 4S battery, I'm using a 1800 mAh 3S battery, and instead of a small-form-factor ("NUC" style) PC, I'm now using a Robotis CM-900 ARM-based controller board.

Thus, I had to port my IK and gait engine, as well as slowing it down. I'm still not happy -- the IK runs at 60 Hz, with time to spare, but the servos are moving rather unevenly. Maybe I'l run the IK faster than that.

Also, there is some weird quick-lift foot action going on when lifting up while moving sideways (strafing.) That may be a bug of mine I have yet to find.

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