noizeramp

Aleksey's programming, engineering and electronics log

Quadropod - First moves

by Aleksey Gureev
29 September 2019

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.

tags: diy - quadropod

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