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Hybrid Second Terrain adaption test

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Uploaded by on Nov 1, 2009

2nd test showing Terrain adaption in combination with a wave gait. The gait uses 2 upper positions to allow the leg to move down in a perfect vertical line. This is just the first time it actually walks over an object so there is still a lot of improvement to do.

Settings:
Lowering legs with 2mm / cycle.
Balance mode on.

Hexapod : Lynxmotion's Hybrid (prototype)
Remote: Lynxmotion's DIY RC
Software: Phoenix code V2.0

Category:

Science & Technology

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License:

Standard YouTube License

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Uploader Comments (Xanore)

  • very nice it worked well, but why so slow?

  • @kingdomheartsss I'm currently working on a new algorithm which allows me to speed up things. I expect the new speed close to the speed of the phoenix.

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All Comments (7)

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  • why is it wobbling a lot???

  • @Xanore

    Xan, what kind of method do you use for the terrain adaptation? Is it Inverse Dynamics?

    Thanks

  • y is it so damn slow?

  • You sure choosed the right book to walk over.. LOL.Great progress Xan! Thanks for sharing!

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