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4-legged robot Walden walking without shaking

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Uploaded on May 7, 2009

After several troubles (including a crashed hard-drive, Walden broke down etc.) I finally managed to get Walden up and running (walking).
A couple of improvements have been made:
Better attachments for the legs
New code (better protocol and walking algoritm)
But, best of all: It's not shking anymore! Yes, I managed to get MG995 to stop shaking! This was done by adding a couple of rubber bands to dampen out the oscillations.

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