Hello,

I'm very intrigued by your hexapods, especially the V4. I'm interested in the gait generation: The whole body supports each leg by moving in the direction the leg/foot moves. How have you programmed this? Is it like you check every ?-ms the polygon the legs project to the ground and you "correct" the center of mass of the robot or is it a complete algorithm like "move forward, so you have to make a step and the others legs have to support you". If it is the first way there have to be a lot of calculations, so which kind of microprozessor do you use there?

Do you use the same algorithm in the z-axis? To lift the whole body when a leg is in air.

I hope my english is understandable, hard to explain technical things.

Your hexapods are the greatest I've seen!

Stephan

Hi Stephan

The gait generation uses an algorithm called balence gesturing. The algorithm is explained fully in a paper linked to in this forum, I think under the title of balence gesture, I will check. Also, I have written a flash demo of how this works, if you scroll down the robotics section you can see this. or check the link above.

The Z axis uses the same algorithm, but can only be used if contact sensors are installed on the tarsus. The processor for the V4 hexapod was a Pentium PC. However, the same engine is now running on the V4b hexapod on a dsPIC30 device. The engine runs at 50 to 70Hz.

Thanks for you comments

Matt.

The link to the hexapod engine algo is in the subject titled "Terrain adaptation" in this forum. I have made some changes to the algo, but its more or less the same.

Matt.

Thank you for answering, I've already checked the link in the forum, but there are still a few questions. I'll try to solve them on my own, it's the inducement to say I've done it on my own. Thanks anyway!

Hope you finish the hexapod V5, I'm very afraid to see it!