Hardware:

18) Hitec HS-475-HB servos on LynxMotion EH3-R Chassis

1)ServoPod from NewMicros Inc.

12) Sharp distance rangers on the legs, but soon to be moved to turrets.

3) 1600 mAh, 7.2V Lithium batteries in parallel.

6) 3-axis force sensors coming soon.

Software overview:

"Pre-canned", non scalar gait with 60 points.

This gait is stretched to cause different stride lengths and leg height during step.

Then it is rotated and offset in space to allow foot placement relative to body, and vector of travel relitive to the body.

The x-y-x coordinates generated by the gait generator and step-translator are fed into an inverse kinematics engine.

The IK engine generates the proper servo positions, which are maintained in hardware registers.

Future expansion:

Walking on an arc to effect rotation

More error checking

more more more

Media:

MORE REAL WALKING.AVI 06-Jul-2004 23:16 5.6M

Maytag.avi 05-Jul-2004 07:57 1.2M

REAL WALK.AVI 06-Jul-2004 23:14 4.4M

Spin Cycle.avi 05-Jul-2004 07:54 973k

Walking with speed and vector 07-Jul-2004 01:00 12.6M

at_the_office.avi 07-Jul-2004 14:03 7.4M

doing_a_circle.avi 06-Jul-2004 10:51 2.8M

goodbeatIII_MTV.mov 12-Jul-2004 00:01 16.8M

goodbeatIII_MTV_low quality.mpg 12-Jul-2004 06:29 10.3M

puree.avi 05-Jul-2004 07:56 1.2M

tracing a line.avi 05-Jul-2004 08:00 2.7M

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