Hello everyone, last two months I am making one robot with four legs. And until now I can sit, stand up etc, everything with all four legs on the ground- it is normal, but when it walks it is very unstable. I thinking about how to make the walking algorithm and stability control, but have no idea how. I would be very happy to hear something useful from you.
My project is with Arduino Mega, PCA9685, 12- MG995R and MPU6050. I can read the date from gyro but cant find a way to use it.( only when it on four legs and the ground change angle ) I have very basic inverse kinematics algorithm to calculate the legs separatly, so I give (x,y,z) to the legs, but not all together and with the torso. I have no simulation program and I dont know how to use some from the popular. I am new in the robotics as all and it is my first project, it is difficult, I know, but would try.
Thank you very much!