Walky the Biped Robot - WalkyII gets his legs

RE: Walky the Biped Robot - WalkyII gets his legs

DAB — Thu, 19 Jul 2018 17:33:48 GMT

Nice update.

Bipedal motion is indeed challenging.

Sometimes I look like walkey when my neuropathy kicks up.

DAB

RE: Walky the Biped Robot - WalkyII gets his legs

three-phase — Sun, 15 Jul 2018 20:41:14 GMT

Good to see the progress bing made, I a sure you will make the required improvements in due course.

Kind regards

RE: Walky the Biped Robot - WalkyII gets his legs

balearicdynamics — Sun, 15 Jul 2018 08:16:51 GMT

I agree with the other comments that some rubber on the soles may give more adhesion and solve the sliding problem. But if legs does not lift a while othe issues can occur.

Enrico

RE: Walky the Biped Robot - WalkyII gets his legs

genebren — Sun, 15 Jul 2018 05:22:58 GMT

John and Mark,

I actually did put rubber dots on the original version of the robot to stabilize the forward motion. It is a delicate balance between having the feet too slick or too sticky. The normal forward movement sequence is to tilt first, then drive the legs (the lifted one forward and the weight bearing back). But to turn the robot you skip the tilt and drive the legs, then tilt and drive the legs. If the feet and too sticky, the robot does not pivot correctly and it does not turn. I purchase a variety of pads (vinyl, foam and cork) that I plan to test, trying to get the proper compromise. The new feet are slightly more textured (printed) versus the old feet which were very slick.

One of the biggest issues right now have to do with the proper centering of the servos. When I disassembled the earlier version, removed the servo horns and did not mark the servos. So when I re-assembled, the centers were not correct and some of the actions did not balance well. Also the center of gravity has shifted and I still don't have it centered correctly yet. I have a lot of tuning to do. The new controller firmware will help, as I will be able to tune the servo centers, and the amount of tilt and leg movement to match all of the other changes in the robot's construction.

Thanks,

Gene

RE: Walky the Biped Robot - WalkyII gets his legs

mcb1 — Sun, 15 Jul 2018 03:10:20 GMT

I've seen people walking like that ...

in the same manner as [mention:f80b53cee57c44bc9d7c577d07d7c791:e9ed411860ed4f2ba0265705b8793d05] suggests.

I wonder if a small rubber strip on the rear edge is enough.

It seems the walking motion is to lift the front edge, and then shift weight to that leg, and the body then tries to move forward.

At that point you have very little surface contact, hence it looks like it slips.

Adding a rubber strip may give it enough grip to stop the rotating motion and allow a move controlled forward movement.

Mark

RE: Walky the Biped Robot - WalkyII gets his legs

jw0752 — Sun, 15 Jul 2018 02:56:43 GMT

I think he looks pretty good. He almost has to sway to lift the leg that is moving. What would he look like with a rubber sole on his feet?

John