Humanoid Type A - turn in place
Humanoid Type A - turn in place
by rkartzinel
Wed Aug 17, 2011 4:07 pm
I have been unsuccessfull in getting the robot to turn in place like a piroette. The motion 3 or 4 in the example walking file makes shuffling turns in a circle. No matter how I rotate at the hip and try to shift weight from 1 leg to the other using the standrd Roboplus program, the feet move in place but the body is too heavy to turn. Do I need to replace the AX-12A at the hips with a stronger servor? Thanks for any help.
by excalibur
Thu Aug 18, 2011 12:25 am
/.
Hi rkartzinel
According to my own experience with Bioloid Type A, ya; you may have some problems, specially if you have changed the structure of the robot. For example if you have added a mini pc, a pan-tilt head, extra batteries and etc or anything that change the base structure of the robot. cuz AX-12 servos are very sensitive to change in load, and by passing extra load`s red line, your moves wouldn`t be accurate, and even not same in later repeats.
In our robot any change in COM ( even 2,3 mm ) had an observable effect in movements ( those that the robot had to hold up legs one by one, like walking, turnings left & right,... )
I dont know how much experienced you are, but in advanced level, the best way of designing a motion is to design it in a simulating environment, ( with real and accurate data of course! ) and using the result in physical structure. But if you are new, you its better to design and change some motion by changing and testing, to have a good vision of work you wanna do; its necessary!
Hi rkartzinel
According to my own experience with Bioloid Type A, ya; you may have some problems, specially if you have changed the structure of the robot. For example if you have added a mini pc, a pan-tilt head, extra batteries and etc or anything that change the base structure of the robot. cuz AX-12 servos are very sensitive to change in load, and by passing extra load`s red line, your moves wouldn`t be accurate, and even not same in later repeats.
In our robot any change in COM ( even 2,3 mm ) had an observable effect in movements ( those that the robot had to hold up legs one by one, like walking, turnings left & right,... )
I dont know how much experienced you are, but in advanced level, the best way of designing a motion is to design it in a simulating environment, ( with real and accurate data of course! ) and using the result in physical structure. But if you are new, you its better to design and change some motion by changing and testing, to have a good vision of work you wanna do; its necessary!
