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  • BenjaminW52 commented on davidhend's instructable Arduino Quadruped Robot8 months ago
    Arduino Quadruped Robot

    Thanks for getting back to me. I'll take a look at the post thanks.I've got slightly more powerful motors myself (HS-485HB), however mine are slightly oversized which is why I ended up getting the same tibias you have since they only attach the the front of a servo instead of both sides.I think my servos are strong enough, however I think i've been going about how to balance this thing in the wrong way... I think I need it to shift its weight onto its hind legs while one of the front is extended. Exactly like you are doing at 0:52 and 0:58 in your video when you have it standing on 3 legs. I've been trying to make it stand while keeping 3 of the legs perfectly centred,which is not ideal mechanically, but it would have looked pretty cool.I had mine balancing on 3 legs using the SSC32-u s...see more »Thanks for getting back to me. I'll take a look at the post thanks.I've got slightly more powerful motors myself (HS-485HB), however mine are slightly oversized which is why I ended up getting the same tibias you have since they only attach the the front of a servo instead of both sides.I think my servos are strong enough, however I think i've been going about how to balance this thing in the wrong way... I think I need it to shift its weight onto its hind legs while one of the front is extended. Exactly like you are doing at 0:52 and 0:58 in your video when you have it standing on 3 legs. I've been trying to make it stand while keeping 3 of the legs perfectly centred,which is not ideal mechanically, but it would have looked pretty cool.I had mine balancing on 3 legs using the SSC32-u servo sequencer application: http://www.robotshop.com/ca/en/ssc-32-servo-sequen... Currently trying to get it to walk with no load, trying to simply my problem by removing the weight of my heavy 6v battery. I forgot to save the inputs I gave it, so I'm currently trying to recover that.Thanks again

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  • BenjaminW52 commented on davidhend's instructable Arduino Quadruped Robot8 months ago
    Arduino Quadruped Robot

    Hi David,Are you able to explain the logic for the radToServo function in the quadraped repository under nuke.ino? This doesnt not seem to return a servo offset for a Hitec Motor, i would expect (-pi/2,pi/2) to map to (500,2500) (or +/- 1000 because you add the offset to 1500 when calling make_command)?I tried uploading the code to my own quadraped and set it to the walking mode with a hard coded Xspeed of 10; the femur and tibia seem to move correctly, but the coxa never move. If i inspect the serial commands, i can see the coxa IK changes but not sufficiently to move more than an integer degree?I happen to have the same dimensions as your quad defined in one of the header files.

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