RoboAmbler Walking Base

We change the algorythm of stepping, so that the center of mass is between the foots, and nowe RoboAmbler can walk almost without  hamble.

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.

We install Arduino Nano for Stepping conrol, MCU for IMU data calculation, and IMU imu 6050 invensense. We use Li-ion battery and DCDC converter to get 5 V from 3.7 -4.1 V from Li-ion.

Here is base schematics

We use 8 Tower S90 g servos, Servo Holders and metal construction set. We connect it together in a base. Bottom, profile and face views