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Dimitris Xydas
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36 followers
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Some slow progress lately, but progress nonetheless. First, I have updated the walking gaits with additional target values. Second, I have added a new input mode which allows the predefined walking gaits to be scrolled through via the keyboard or…
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New video! I have been testing the movement of the robot’s base in the world, while keeping the legs fixed to the ground, as a test of the robot’s stability and flexibility. The robot base can now be controlled, either via the GUI, keyboard or gamepad, in…
Body Moving
Body Moving
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Over the last few weeks I have been thinking about the overall controller architecture, 3D printing some test Raspberry Pi cases, and updating the Python test software. Plotter updates Timed operations After refactoring the giant single-file script from…
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Here is a quick update on current progress with the software: The robot spine can now be fully translated and rotated w.r.t. the world frame. Although I mentioned in the past that this isn’t really needed until the issue of localisation is faced, it is…
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Originally posted on Enrique del Sol - Robotics, Mechatronics & Control Research: Encoders, whether rotary or linear, absolute or incremental, typically use one of two measuring principles—optical or magnetic. While optical encoders were, in the past, the…
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After 3D printing a few more plastic parts and cutting all the aluminium plates, the custom chassis is finally complete! Below are some quick notes on the progress over the last weeks. More 3D printed parts and painting I printed off some of the remaining…
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… or more correctly, from CAD to reality, as it is time for 3D printing! I’ve recently got a new 3D printer in the form of a FlashForge Creator Pro 2017, which means I can start printing some of the structural components for the quadruped now, leaving the…
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With the hardware for all four legs gathered, I have assembled the first standalone version of the quadruped. The MakerBeam XL aluminium profiles were adopted as before, to create a temporary chassis. The fact that the robot can now stand on its four feet…
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If you want to know more about robotics, then check out my friend’s blog over here: Enrique del Sol – Robotics, Mechatronics & Control Research His blog covers all sorts of topics, from robotic manipulators, motors, motor control, to 3D printing and…
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