Sunday, June 2, 2013

Zoidberg : IK based walking

With some wrangling of the existing code base, I have gotten basic IK walking working.  These servos have a higher resolution than the ones that the code was originally written for.  I think now I will do a little bit of physical optimization, perhaps some reworking of existing parts.  Then work on further software tuning.  
Two gaits are shown a basic ripple gait and a smooth ripple.  The smooth version has more steps per cycle.

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