How fast can the legs move?

A project log for Dogbot

A quadrupedal walking robot

charles-galambos

Charles Galambos • 07/06/2018 at 14:16•7 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.

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Standing and squatting

06/29/2018 at 10:54 • 2 comments

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First baby steps

07/09/2018 at 15:10 • 8 comments

Discussions

Dennis wrote 07/08/2018 at 12:22

That looks cool!!!

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

Never thought we'd see 3D printed gearboxes.

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Jarrett wrote 07/06/2018 at 15:20

Well this looks awesome

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

Thanks!

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deʃhipu wrote 07/06/2018 at 14:59

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

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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deʃhipu wrote 07/06/2018 at 15:17

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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