A straight to the point, no nonsense worm robot that will be cheap to make, easy to assemble, and have some sweet movements programmed in there. All the inch worm robots I saw on youtube were missing the point.
I messed around with the controller some more today and got it a bit under control. It's not moving in any direction very fast... but it is moving!
There are two main gaits that are coming into form here. They are both shown in the video below. The first one is more of a wave moving THROUGH the worm and the second is more the wave being the ENTIRE worm.
I have another idea as well that I haven't tried out yet as well. This is more of a classic inch worm movement. I think it will actually work the best because it's the closest to an actual step. These first ones I'm working on are just cool.
I got the fastening hardware set up with 4 of the servos today and did a test run. Let's just say I'm not going to upload any video yet :/
I definitely underestimated what it would take to get a sine wave movement going through the servos. Basically the resolution is limited by the number of servos in the chain. With my current setup I'll get a 4 bit sine wave. Yayyyyyy!!!!
This isn't what I had originally planned but we'll see how it goes. I also have another idea for a movement method so I'll be implementing that as well.
The fastening hardware doesn't hold the servos together SUPER tight which will likely become more of a problem in the future. I'll have to invest in actual brackets if I can't come up with a good idea for the current setup.
I ordered the fastening hardware today from a local company after a false start with McMaster-Carr (won't ship to individuals... wat the hek). I should be able to pick it up within the next few days and have a prototype together by the end of the week. I'm not concerned about the software or electronics being difficult to get setup.
On another note, I'd like the video I make about this robot to be super cool. It shouldn't be overly technical or dry. It should be fun and accessible to a wide range of people. The joy of robotics shouldn't be limited to the people who understand the engineering behind it. Obviously battle bots exists and there was that giant robot duel thing which appeal to a larger audience but I don't think those get to the core of what robotics is really about.
Robotics is really about autonomy. A device where every little movement is controlled by a person isn't really a robot, it's just a device. I don't mean autonomy just in terms of vision; I mean in terms of movement as well. A device that expands the mobility capabilities of machines is definitely a robot.
I would like to help share the core of robotics with the rest of the world.