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Getting gazebo to behave

A project log for Mildred the Hexapod

Yet another 3d printed hexapod, but this one is mine! (and it's matte black)

Fran├žois Ubald BrienFran├žois Ubald Brien 04/11/2019 at 16:290 Comments

There won't be any cool build pictures for a while. I'll be working on the software until I'm comfortable letting it run outside of the simulator. I still have a bunch of stuff to do before I can do this. After tuning the model in gazebo I have to code a startup routine where it will sense its limbs and safely bring them into a "sitting" position before standing up. Then I'll need code to manage switching leg distance from the body, so that I can reduce the large footprint that the long tibias is causing during the standup procedure before walking.

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