Meet Suki 6dof Leg Dynamixel Ax-18a
Meet SUKI, my 6 DOF leg biped robot using inverse kinematics.
This Video shows body IK rotation and translation, the IMU which will eventually be used for Balance whilst walking, and the beginnings of the Blob detection for ball tracking and walking direction control. Camera tracking needs a PID loop, body movement needs smoothing and the balance PID needs tuning.
This Video shows a few gait sequences / speeds which are very basic, it has no balance control and the gait needs some major tuning. These are second hand actuators and there is a huge amount of backlash / gear slop so I have installed some dampers on the ankles and put some latex tubing from the femur to the tibia. Its still a major problem though especially on the right leg!
This shows a slightly tuned gait still unbalance, I need to use a Bezier curve instead of the current 5 point curve in the gait sequence, this should make it slightly smoother.
Coding time was 4 months and I thought that would be the difficult bit, how wrong I was. Bad Design so I think it will never have a decent gait unless its more humanoid.
when its less buggy and I get a few more things sorted I will make a better quality video.