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Topic: My quadruped - Tetrapod (Read 5221 times) previous topic - next topic

margomael

Hello,

I will like to present to you my quadruped. I'm using an Arduino Mega and a servo controller SSC 32.

I'm also writing a blog as I go along and I invite you to visit it. Hopefully you will find some useful information.

I have a couple of articles about Inverse Kinematics (with arduino code) and I hope I will publish more interesting articles as I make progress. See link below to my blog:

http://marc-tetrapod.blogspot.co.uk/


I haven't made all the mechanic parts yet and I'm using Hitec 311 servos on the tibia (not very strong) but it's not too bad for now.

Just a small video of my tetrapod...

http://www.youtube.com/watch?v=p_JyYlQyOAQ

Thanks

oric_dan

#1
Nov 22, 2012, 09:03 pm Last Edit: Nov 22, 2012, 09:05 pm by oric_dan(333) Reason: 1
Looks good, it's coming along.

Next, you might try implementing a crawl or creep gait. This means moving only 1 foot at a time.
Assume a stable tripod on 3 legs, step forward with the 4th leg, and then swing the body forward
using the other 3 legs, so you get a new stable tripod for support, and can lift and step the
rear-most leg.

If your servos are a little weak, the creep gait will work better than a trot [2 legs by 2 legs], as
there are always 3 legs down and supporting the frame.

This page may be helpful,

http://oricomtech.com/projects/legs.htm

margomael

Thanks for the reply and for the link. Very interesting.

The gaits are going to be soon my next development. :)

rgallant

Battery, 7.4 Volts can kill your servos, I would suggest either buying a BEC (R/C world) or finding a similar way to reduce your voltage to 5 volts .  Depending on the number servos and amp draw a basic R/C BEC should handle your requirements.  Any R/C shop should carry the Castle Creation Brand, or a suitable substitute, they have both a 10 and 20 amp version.  If you go 20 amp you will have to replace the supply side wires.  You will also need a small fan to provide airflow as the R/C ones are assumed to mounted on a rapidly moving object.

Other than that I liked your explanation of IK, it was a lot clearer than a lot of the ones I have read.

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