by Fritzoid » Wed Apr 13, 2011 12:01 pm
by Fritzoid
Wed Apr 13, 2011 12:01 pm
I just ran a simulation using the DarwinOP walking_tuner motions with a Bioloid premium model. The results were not good! It turns out that the Darwin kinematics are different than the type A in significant ways.
The most obvious problem is the hips. The hip brackets (F5) on the Bioloid are mounted at a 45-degree angle, whereas the DarwinOP has them centered (more like a comprehensive).
The lower arms are mounted at 90-degrees relative to the upper arms on the Darwin. It's an improvement over the Bioloid design, but different none the less.
What I call the groin (servos 9 and 10) are mounted facing forward on Darwin and backward on the Bioloid. This is probably the case with the foot servos (17 and 18) too.
There also seems to be a problem with the knee swing.
In conclusion, I recommend you think twice before trying this with a real robot!
I just ran a simulation using the DarwinOP walking_tuner motions with a Bioloid premium model. The results were not good! It turns out that the Darwin kinematics are different than the type A in significant ways.
The most obvious problem is the hips. The hip brackets (F5) on the Bioloid are mounted at a 45-degree angle, whereas the DarwinOP has them centered (more like a comprehensive).
The lower arms are mounted at 90-degrees relative to the upper arms on the Darwin. It's an improvement over the Bioloid design, but different none the less.
What I call the groin (servos 9 and 10) are mounted facing forward on Darwin and backward on the Bioloid. This is probably the case with the foot servos (17 and 18) too.
There also seems to be a problem with the knee swing.
In conclusion, I recommend you think twice before trying this with a real robot!