Author Topic: Onyx 6 -- lighter weight, smaller controller  (Read 1763 times)

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Offline jwatteTopic starter

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Onyx 6 -- lighter weight, smaller controller
« on: October 26, 2013, 09:50:30 PM »
I've had to reboot my "onyx" quadruped walker (intended for Mech Warfare) more than once. Those MX-64 seem to want to kill themselves or their neighbors when run at 4S LiPo voltages (14.8V nominal) even though that's allegedly within spec.

This time, I'm running at 3S LiPo, and because of the lower torque, am removing weight by using a much lighter-weight controller (and thus much less on-board CPU power.) Also, I'm running the gait at 2 seconds per step, rather than 0.6-0.8 seconds per step. I'm hoping to get it faster than 2.0, but probably won't push it below 1.4 or so -- again, to avoid the servos killing themselves.

Today, the IK gait engine came up and started running based on commands sent over Xbee, but it still has some jitter that I can't yet explain. The IK engine runs at 60 Hz and sends target poses to the servos at 60 Hz, but I have time to spare, so perhaps a faster run would help.

A quick video for your viewing pleasure: