Hitting the robot.

A project log for DIY hobby servos quadruped robot

Cheap 3D printed 4 legged robot, that almost looks like boston dynamics spot but moves like a newborn.

Miguel Ayuso ParrillaMiguel Ayuso Parrilla 06/12/2020 at 11:300 Comments

I manage to make the robot a bit compliant by reading acceleration meassurements on the IMU, when a big acceleration is showed, a velocity command (in direction of the perturbance) is hold in order to soften that disturbance.

In the video the model is reading raw acceleration data, thats why sometimes its has random movements.