noizeramp

Aleksey's programming, engineering and electronics log

Quadropod - First moves

Aleksey Gureev
29 September 2019 ⋅ diy quadropod

Parts printing and assembly has finished. After initial calibration, I’m now writing simple scripts to see the limits of the platform. We started with push ups:

With that done I’ve looked into how to lift the leg without tipping over. It took a bit of time to figure out the angles of the rest of the legs so that the center of mass shifted backwards slightly.

alt

At this point I start to believe I’ll need to write a library with some geometry calculations in it. Doesn’t come as easy as I imagined starting this project. LOL.



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