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Working on custom gates

A project log for Quin the Quadruped

A quadruped with custom 3D printed legs and locomotion software written in Python on a Raspberry Pi

BryceBryce 07/24/2018 at 18:251 Comment

so far, all locomotion of the robot was done by using sine and cosine waves with different amplitudes and frequencies, but my goal now is to have a custom gait visualizer and editor. So far its been going well, albeit inefficient and not as accurate as I would have hoped. There are a few glitches, but this is it so far: https://github.com/BrrrIce/Robot

Discussions

Kevin Harrington wrote 04/14/2019 at 17:25 point

You may be interested in the control system from SmallKat: https://hackaday.io/project/164727-smallkat-an-adorable-dynamics-oriented-robot-cat It uses an esp32 to connect to the servos, then a full simulation/control IDE on a nearby PC to run the kinematics.  If your interested, let me know, ill be posting a how-to in my project log for forking SmallKat with custom hardware.

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