Increasing gait speed

A project log for mjbots quad

An open-source, affordable, dynamic quadruped robot

Josh PieperJosh Pieper 08/11/2020 at 11:100 Comments

I've started on the process of increasing gait speed.  I now have a gait engine that lets me parameterize the timings all the way out to flight phases and am working through the "niggly details" that come up when you actually try to use it.  Here's a quick video showing some cherry picked nice walking from my first time trying it on the real robot: