Walking Test - Various Terrain
Walking Test - Various Terrain
by DirtyRoboto
Sat Jan 17, 2009 5:19 pm
I was having a nice old play with RN and decided to see if I could build a walk routine with dumb terrain compliance. I am having a kind of success but it is a touch harder to do then I thought. This is where I am at...
I took the basic walk routine and broke it down. What I wanted to do was turn off the foot and ankle servos before he puts his foot down and places the load on it, but not before the foot is instructed to goto its position.
Then I wanted to read the position of the foot and ankle servos and use the new positions as the setting for the servos and have them turn on in the position they are in (not the walk routines position).
It is a self modified walk where the foot/ankle position is adapted by the terrain and this modification is read by the servo position.
I am still coding this and testing but have had some really good results at the cost of walking speed. Hope to post some code and video soon.
DR.
I took the basic walk routine and broke it down. What I wanted to do was turn off the foot and ankle servos before he puts his foot down and places the load on it, but not before the foot is instructed to goto its position.
Then I wanted to read the position of the foot and ankle servos and use the new positions as the setting for the servos and have them turn on in the position they are in (not the walk routines position).
It is a self modified walk where the foot/ankle position is adapted by the terrain and this modification is read by the servo position.
I am still coding this and testing but have had some really good results at the cost of walking speed. Hope to post some code and video soon.
DR.
In servo's we trust!
