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How fast can the legs move?

A project log for Dogbot

A quadrupedal walking robot

Charles GalambosCharles Galambos 07/06/2018 at 14:167 Comments

A brief update. I've just finished working on a new version of the motor control firmware to give more precise, faster control.   Here is an example of the results:

The motor controllers are now estimating the desired velocity from successive positions, which keeps the position on target without increasing the latency in processing position commands.  The controllers also now have the option for a feed forward term for the motor torque, but that isn't used here. 

Discussions

Dennis wrote 07/08/2018 at 12:22 point

That looks cool!!!

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lion mclionhead wrote 07/08/2018 at 07:14 point

Never thought we'd see 3D printed gearboxes.

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Jarrett wrote 07/06/2018 at 15:20 point

Well this looks awesome

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Charles Galambos wrote 07/10/2018 at 08:12 point

Thanks!

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de∫hipu wrote 07/06/2018 at 14:59 point

That looks like it should be able to do some prancing and other dynamically stable gaits. Great!

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Charles Galambos wrote 07/06/2018 at 15:08 point

I really hope so!   I want to do another iteration on the motor controllers, but these should be good enough for the moment.

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de∫hipu wrote 07/06/2018 at 15:17 point

There is so much that can be done with those, including motion profiles, regenerative braking, complaint motion and feedback — mind boggles.

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