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Step 8Baby's First Steps!
I got the front legs swinging about 40 degrees either way, and the back legs about 20 degrees. See the first video for an example of the gait from underneath.
(Note the nice couple-second delay when I press the reset button. Very handy when re-programming it to have it sit still for a couple seconds with the power on. Also, it's convenient to center the legs for when you're done playing and you just want it to stand up.)
It walked on the first try! See the 2nd video.
In the vid, watch the way the front leg raises up, then the back legs turn to make it fall forward onto the front leg. That's walking! Play with your center of gravity and leg bends until you get that motion.
I noticed that it was turning to one side a lot, even though I was pretty sure that I'd centered the motors mechanically and in the code. Turned out to be due to a sharp edge on one of the feet.
So I made robo-booties. Is there nothing heat-shrink tubing can't do?!
(Note the nice couple-second delay when I press the reset button. Very handy when re-programming it to have it sit still for a couple seconds with the power on. Also, it's convenient to center the legs for when you're done playing and you just want it to stand up.)
It walked on the first try! See the 2nd video.
In the vid, watch the way the front leg raises up, then the back legs turn to make it fall forward onto the front leg. That's walking! Play with your center of gravity and leg bends until you get that motion.
I noticed that it was turning to one side a lot, even though I was pretty sure that I'd centered the motors mechanically and in the code. Turned out to be due to a sharp edge on one of the feet.
So I made robo-booties. Is there nothing heat-shrink tubing can't do?!
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