Proper walking!

A project log for Stanley - the capstan based quadruped kit

A maker friendly capstan based BLDC driven quadrupedal robot kit.

damian-lickindorfDamian Lickindorf 03/13/2022 at 17:100 Comments

In this second “catching up post” we show you some better walking! This time battery-powered, untethered, with much softer PD settings

We took Stanley to a rooftop terrace to experiment on some less even terrain. At this point we are running a controller that does not make use of the ground reaction forces.

Stanley’s mechanical cable-driven quasi direct drive actuators allow for great high-acceleration and high-frequency performance. We’re showcasing it here with a “spin in place” motion. Stanley is able to do a full 360deg rotation per second - 60RPM!