Custom walking routines
Custom walking routines
by davidalecmcinnes
Fri Nov 09, 2007 11:49 am
Hi all,
I have been doing some work on autonomous Robonova but as you are all aware, his centre of gravity is quite high and he can become unbalanced quite easily. I've just got a tri-axis accelerometer which I will bolt on so he can pick himself up when he falls over. Has anyone done any work on walking routines that have a lower centre of gravity and are more stable?
I have been doing some work on autonomous Robonova but as you are all aware, his centre of gravity is quite high and he can become unbalanced quite easily. I've just got a tri-axis accelerometer which I will bolt on so he can pick himself up when he falls over. Has anyone done any work on walking routines that have a lower centre of gravity and are more stable?
by bbrainmonkey
Sun Nov 11, 2007 9:54 pm
Someone should make a walking routine like that of Oro and Zog from trossen robotics, with spread legs and bent knees. This makes the robot very stable, and, it can't fall over forwards very far.
Last edited by bbrainmonkey on Mon Nov 12, 2007 1:36 am, edited 1 time in total.
10 Shoot
20 Die
30 Goto 10
20 Die
30 Goto 10
by hivemind
Mon Nov 12, 2007 12:22 am
Squatting sure does help stability for those Farrell Robotics humanoids 
, but that was strictly for wrestling and we plan to have a full upright walking gait for most movements come Robo-One. But if you are looking to have a squatting-walking gait it might be pretty tricky with the RN-1. The way we pulled it off with Oro and Zog was to use the independent leg rotation and hip rotation to 'push' the feet at an angle and gain some forward momentum through a pattern of moves. Worked well for wrestling and was very stable, but I will be the first to admit that it is not the most humanoid as far as walking 
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, but that was strictly for wrestling and we plan to have a full upright walking gait for most movements come Robo-One. But if you are looking to have a squatting-walking gait it might be pretty tricky with the RN-1. The way we pulled it off with Oro and Zog was to use the independent leg rotation and hip rotation to 'push' the feet at an angle and gain some forward momentum through a pattern of moves. Worked well for wrestling and was very stable, but I will be the first to admit that it is not the most humanoid as far as walking
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