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The first Walking test

A project log for RoboAmbler Walking Base

RoboAmbler is simpe open source stepping quadruped Robot walking base with 5-bar linkages

Sergei  V. BogdanovSergei V. Bogdanov 05/01/2018 at 00:405 Comments

We assemble the model and try to start the walking using powerbank.

It can walk, but it walk with a limp now. We are to calculate more precise algorythm of leg changing to avoid a limp.

Discussions

Sergei V. Bogdanov wrote 05/06/2018 at 18:51 point

We make some corrected version of code. It can walk now.
https://youtu.be/-PBh-VfGNQc

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deʃhipu wrote 05/06/2018 at 19:10 point

Hmm, is it statically stable? Can you stop it with one of the legs up, without falling down? I think that if you made the legs longer or the body narrower, you could get a greater effect from tilting the whole body, and thus better stability.

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Sergei V. Bogdanov wrote 05/06/2018 at 19:19 point

You are right, of course.  Tilting of the body is energy loss. The Robot is stable almost on all the cycle. The Stop, Go  and Turn (left, right) are the next modes we designe.

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Sergei V. Bogdanov wrote 05/01/2018 at 15:05 point

Thank You. It is nice idea.

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deʃhipu wrote 05/01/2018 at 10:07 point

From my experiments with #Katka I can tell you that it helps when you tilt the body to the opposite side of the leg you are going to lift before lifting it, by making the legs on that side shorter.

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