Charles GalambosSo after a bit of tinkering with the gait parameters I managed to come up with something that works much better. It is still a fixed gait animation without any feedback, but it is stable and robust against disturbances. Next is to add some feedback from an IMU and the torque from the motors.
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cool!
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Very nice!!!
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Wow this is awesome progress :D nice job!
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I see you added pauses to avoid oscillations. But you still move the legs very fast to avoid falling down, so this is not a statically stable gait. I think you would get statically stable if you moved the body away from the leg that is about to be raised before every step — I do that for my robots and it helps a lot.
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It is actually doing as you suggest, the pause is it actually it shifting its weight though it isn't obvious from this shot. Have you any experience with dynamic gaits?
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Ah, I see, it's not obvious.
Not really, my robots are very small and simple, and don't (yet) have any kind of sensor feedback. I did manage to make them trot, which counts as a dynamic gait, but that's achieved by simply moving fast enough that it doesn't have the time to fall. No balancing or anything advanced like that.
I know some theory around the ZMP, but I never actually used that in practice. With your motors acting also as force sensors, it seems you should be able to calculate ZMP for your robot.
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