Step 9: Tweaking
So it walks ok. I'm still playing around with the gait and the shape of the legs and the timing to see how fast I can make it go in a straight line and how high I can make it climb.
For climbing, the front leg bend just before the feet is crucial -- it helps it keep from getting caught on edges. Instead, the leg rides up over the obstacle if it hits below the "knee." I tried to make the feet hit at about the same 30-degree angle as the frame.
So how high can it climb?
For climbing, the front leg bend just before the feet is crucial -- it helps it keep from getting caught on edges. Instead, the leg rides up over the obstacle if it hits below the "knee." I tried to make the feet hit at about the same 30-degree angle as the frame.
So how high can it climb?
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