Hi,
I'm now very proud to present
Balancing Phoenix!
Here are two pictures of Phoenix balancing her body while lifting one leg on top of some 5645 Hitec boxes
Another angle of view:
I've modified Xan's code alot lately and I've implemented a Balance Mode that take care of balancing the body in all dimensions (XZY), translate and rotate. This is similar to
Matt Denton's balance gesture.
The pictures show Phoenix RC controlled when I remotely move her leg on top of the boxes.
Now Phoenix can walk with three different gaits (tripod, quadripple and wave). I can anytime switch between normal walking and balance walking.
I think that the balance ability is a major improvement and a key feature when it comes to terrain adaption. So far I've been impressed of what is possible with the Basic Atom Pro, but I think terrain adaption might be too hard for it. But we have to try!
And here is a little demonstration video:
-Zenta
