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Thread: Mini Custom Octapod Project

  1. #11
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    Re: Mini Custom Octapod Project

    Here's an update:

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    Sleep? You don't need sleep...

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  2. #12

    Re: Mini Custom Octapod Project

    Cute!

    Do you have any way of reading the load on the legs that are on the ground? When three legs are on the ground, the triangle is all in contact, but when four legs are "on the ground," often one (or even two) of the legs will see much less load than the others because of small imperfections in leveling. I wonder how this impacts the design of gaits for an octopod?

  3. #13
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    Re: Mini Custom Octapod Project

    Hey jwatte,

    No, currently I do not have any FSR installed or have any current sensing resistors on any of the servo lines. I think if the servos were swapped out with something like the Robotis' actuators, it would be an easy feat to measure and to calibrate each step (I think that's why the Robotis stuff is so popular).

    I currently don't have any plans for compliance type of things, because there are so many basic things in the code that I still need to work on (such as setting up trig tables and moving to fixed point math) and also integrating sensors and calibrating it.

    I'm still trying doing some tests on what each "step" in HSERVO equates to what angle.

    I'm still punting around the mechanicals as well, I need to design up a few more brackets to mount the two option servos that I have for this, probably for pan/tilt type of mechanism. I also need to design up a battery tray for this bot, since currently, the battery strapped on is sort of kludgy looking...
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    Sleep? You don't need sleep...

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