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1  Topics / Robotics / Re: 12 Servo Quadruped - Servo Shield selection discussion on: February 09, 2013, 06:08:56 pm
Hi,

I made a Quadropod with 8 servo's for walking (2 x 4 additional ones for steering and driving) using an arduino. I combined the following:


From the Arduino I send a group move to the SSC-32 and that takes care of the servo movements. Looks something like:

Code:
#15 P1500 #3 P1500 #31 P1500 #19 P1500
#12 P1844 #13 P1855 #14 P911 #0 P1155 #1 P1033 #2 P1866 #28 P888 #29 P1355 #30 P2133 #16 P1755 #17 P1644 #18 P700 T72
#15 P1500 #3 P1500 #31 P1500 #19 P1500
#12 P1833 #13 P1855 #14 P911 #0 P1155 #1 P1022 #2 P1855 #28 P888 #29 P1322 #30 P2100 #16 P1755 #17 P1644 #18 P700 T72
#15 P1500 #3 P1500 #31 P1500 #19 P1500
#12 P1833 #13 P1844 #14 P900 #0 P1144 #1 P1011 #2 P1844 #28 P888 #29 P1288 #30 P2066 #16 P1755 #17 P1655 #18 P711 T72
#15 P1500 #3 P1500 #31 P1500 #19 P1500
#12 P1833 #13 P1833 #14 P888 #0 P1144 #1 P1000 #2 P1833 #28 P888 #29 P1255 #30 P2033 #16 P1766 #17 P1666 #18 P722 T72
#15 P1500 #3 P1500 #31 P1500 #19 P1500

The longer line of the two is the walking gait, the shorter is for the continues rotation servos to stay non moving (otherwise they become 'unpowered').

For pictures, a video of the walking gait and source code, go here: http://www.cmhofstede.nl/eigen-projecten-vrije-tijd/project-tachikoma-prototype-ii-2/ Note that this was actually my first time coding an Arduino so its really beginner level stuff.  smiley-wink Its been a few months since then and I made a ton of improvements for speed and IK. Did'nt post the code for that cause its getting very long.
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