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Not so much the speed, but the jerky movements....<BR>
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Hexapods are very simple to get walking from a sequence point of view, but getting them really smooth is much harder, as with any legged robot.<BR>
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What he's done there is a very simple tripod gait. Three legs down, three legs up, and jerk. Which is what I did with both of mine, although I did start working on a 'ripple' gait table on the second one but ran out or processing power with the small PIC I was using.. Was probably my algorithm, if I did it now I'm fairly certain I would do it differently, as is always the way with 20/20 hind site.<BR>
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Wave/ripple gait is much cooler looking, and can give you continuous looking motion:<BR>
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<A HREF="http://www.youtube.com/watch?v=5ro_1-6ADQM">http://www.youtube.com/watch?v=5ro_1-6ADQM</A><BR>
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And, also in the smooth movement department: <A HREF="http://www.youtube.com/watch?v=NUMGpDTm59w">http://www.youtube.com/watch?v=NUMGpDTm59w</A><BR>
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And: <A HREF="http://www.youtube.com/watch?v=n4JJEazpb_g">http://www.youtube.com/watch?v=n4JJEazpb_g</A> which is quite cool as well, obviously using propper geometry calcs!<BR>
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With a PIC32 on board you should be able to create some adaptive gait tables/routines in C to give very smooth movement. Ripple/wave gait also gives more strength as more legs are acting in 'drive' at the same time (5 vs three), which would suit his project.<BR>
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I would like to play with my hexapod, but I pillaged it for bits about a year ago. :-)<BR>
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I don't actually have any working robot-like devices at the moment, must work on that... I've only just got over changing full time jobs earlier in the year, and got back into doing some of my own stuff. Robots are bottom of the list unfortunately, under a pile of domestic stuff, and the continuing saga of the PLC that I've been wanting to do since I sold the electronics business back in 2004! (llloooonnnggg project :-) )<BR>
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Hope everyone had a great Xmas, and all the best for the New Year..<BR>
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Cheers, Chris H.<BR>
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On Wed, 2008-12-24 at 08:46 -0700, Michael Pearce wrote:
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I also thought he could have it moving a little faster..... but still
pretty cool - guess you could modify yours and add a lawn cutting
blade and draw in the grass (Thats what the whole project is about)
Mike
> It's nice, but nothing that clever IMHO...
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> And, you'd think with 3dof legs and that much processing power you'd code a
> dynamic gait to remove the jerking motion out of it.
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> my 2c. :-)<BR>
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