Society of Robots - Robot Forum

General Misc => Misc => Topic started by: the_edge123 on March 15, 2014, 05:50:15 AM

Title: tricks to move the bioloid king spider
Post by: the_edge123 on March 15, 2014, 05:50:15 AM

I built my spider from the bioloid kit and my plan is to make it move from my PC.
I will connect the PC to the CM530 via USB. I'll use embedded C or C++ to forward the request to the servos.
I already managed to control each leg independently with C++/OpenRAVE in the simulator.
Now I have to coordinate the legs.
Are there any math tricks to do it easily ?
-
Fabien

Title: Re: tricks to move the bioloid king spider
Post by: jwatte on March 15, 2014, 11:07:51 AM

For Dynamixel based quad and hex walkers, the two software packages that come up are "NUKE" and "PyPose." I don't know whether they will work with the CM530 or just with Arbotix style boards, though.