Quad leg walker, 2 - DoF leg Kinematics

[TrickyNekro]

Hello guys,

I know I shouldn't be asking questions like that but, time is on the essence...

I want any documentation possible, anything I haven't google, something you already have in mind and is documented.... I really don't need heavy documentation, a just how to....
I really care about the kinematics only, I know how to program, but I need to make my bot, have a smooth movement, not moving like it has down sydrom or something like (no offence to relatives and others)

I have something more than a day, to build the program and I can't kill all my time googling, while, I have some hardware to finish...

I know I'm really asking to save my day, and that's bad, and I shouldn't ask like that, but still time kills me...

The motion is made on one plane so it should be very hard to calc.... And there is only one angle I should calculate.... I'm also worried about the space from the leg of the robot and the base of the robot, that should remain the same or something like that.... Unfortunately I don't think that my robot can make that movement.... I should post pictures of how my robot is later, cause now I'm at the uni campus....


Thanks a great deal, in advance,
Lefteris, Greece

[knossos]

I haven't used it yet (still waiting on $$ for enough servos ) but have you tried WebBot's Gait Designer?  Sounds like it will do what you need.

[TrickyNekro]

Give me some credits here... I don't use baked stuff, plus I neither use Axon, nor any type of AVR... I'm using an ARM for the whole show.... Plus I really only need something to see something similar to what I build, like the Parallax, QuadCrawer....

Further more I need to see some maths, some kinematics how to etc etc etc

I only ask for some project you might have in mind and are worth showing.... 

Any how, thanks for the answer and the quick reply!!!