Category Archives: Walking Robot

So I guess I have a leg now…

Another week, another post. I am almost surprised at my progress this week. I started the week with completely new hardware. Not only did I manage to get that hardware working to the point where I was before, but I was able to get all of the background math working as well. So now I have a leg that follows a natural walk cycle similar to that of a real dog. Continue reading So I guess I have a leg now…

Week of 2/16

Well, this was a busy week. I managed to build a leg, make that leg move in some kind of way similar to natural movement, and made a few decisions for the future. I first built a leg with a stepper, as shown in the video, but later decided to try it with servos only. It was difficult to make loops for both types of motors, but once I switched to a common motor, things began working much better. Since the video was taken, the new servo leg can perform much more natural and walk-like movement. I also researched how to gain more precision from a servo to make it less twitchy. I found a few ways to change the PWM settings of the servo to allow rotations of less than 1 degree. I also looked into new servos to use for the project later on, as well as servo controllers. The servo controller I decided on can move the servo at 0.025 degrees at a time, which is incredibly precise. I ordered more powerful and nicer servos with the controller. An added benefit is that the controller allows me to control all 8 motors with only 2 wires from the Arduino. Moving forward I plan to work on the math required to implement my dorito shaped walk cycle into my code, as well as begin planning the manufacturing of the robot.