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Added Dynamics to the control code

A project log for SmallKat: An adorable dynamics oriented robot cat

A dynamics oriented quadruped for research and education. Smallkat comes in 3 sizes and 2 different control configurations.

Kevin HarringtonKevin Harrington 04/17/2019 at 13:282 Comments

Here is a video demonstrating the dynamics loop. The IMU produces a gravity vector that is then used to compute if the SmallKat is tipping over. To the degree that it is tipped off its axis, the dynamics controller applies a counter Coriolis force by spinning the head and tail counter to the tipping direction. 

Discussions

alireza safdari wrote 04/17/2019 at 21:46 point

Nice, keep going. I enjoy every single update you guys make and I am sure I am not the only one!

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Richard Hogben wrote 04/17/2019 at 18:04 point

My cat does the same thing!

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