virtual spring based gaitgeneration v0.1

A project log for Pengu Q1 quadruped

A low budget quadruped with dynamically generated free gait

Pengu MCPengu MC 10/30/2014 at 10:173 Comments


the video shows the robot walking a few steps while the body moves forward in a straight line.

All of the movements are generated by evaluating the model at the current time.

Basically: all feet are connected to eachother and to the center of the robot body by virtual springs. The robot center body is moved forward while the feet remain on the ground. The gaitgenerator runs the following cycle:

1. find the leg L that has the higest virtual force in the direction of movement (forwards)

2. check if L can be lifted without losing stability (i.e. toppling over)

3. if L can be lifted, move its foot upwards

4. generate the target for the foot based on the combined virtual spring forces and an extra virtual force in the movement direction

5. place the foot down at the generated position

This method of gaitgeneration is still far from finished. Next step is expanding the virtual spring model to provide an approximation of the kinematic limits of the robot.


davedarko wrote 10/30/2014 at 11:43 point
strange that this is not embedded in this log, have you pressed enter after the link? Kudos to the design! I never thought of printing something in yellow before, but the color gives it a feeling of a heavy cargo thing or huge construction work machines.

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Pengu MC wrote 10/30/2014 at 12:12 point
Ah, didn't realize I could embed videos thanks.

Yellow was actually the only color that was in stock when i was buying plastic. And since I bought 2 kg or so, i'm not printing in any other color anytime soon :)

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davedarko wrote 10/30/2014 at 12:44 point
No problem :)

happy little accidents Bob would say..

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