I wrote my own algorithm to generate gaits. It's simple but inconvenient to use. I'll try to organize and even write a paper for it. It may be too unprofessional to be accepted though.
To my knowledge, there are many professional simulation softwares used by robotics majored students and researchers. I'm waiting for those guys to train Nybble, and hopefully derive better results than I do.
sir i also asked you same question on your youtube channel and you told me something about man-learning so will you be able to elaborate and explain me
The algorithm uses tens of parameters for each gait. In short it uses inverse kinematics to create a mapping between joint angles and foot contacts. Design the trajectory of one leg then collaborate all four legs. Save the angles as animation frames and play it on Nybble. Imagine Nybble as a cheap electric keyboard compared with an expensive piano. It's up to you to play any melody on it.
When developing, I programed across different languages for my convenience. Being a short program, the physics simulation was done in my mind. Most of the tuning depends on my intuition and experience. It still takes several hours to fine tune one gait.
I hope people in serious robotics could teach us the right/professional way to generate gaits.
There are a lot of popular simulators, such as Webot. I haven't got a chance to learn them though.
Hi all,
After calibration I uploaded Nubble.ico and getting error 288...287 and loud sound beep, when I take out usb adapter beep sound is end but when I press button to walk Cat turn off. battery is new Olight 3.7v 14500 750mAh
Hey! I'm going to be getting a Nybble in the new year, possibly two, so please note I haven't yet got the actual bot in hand :-)
Sorry in apologies for the litany of questions, I've been looking/researching and can't find the answers, so I'd just like to make sure.
I'm looking at batteries for powering it, and I'm based in the UK. Amazon search gives me this option, I just wanted to check it will be suitable: ( https://www.amazon.co.uk/EBL-Capacity-2800mAh-Rechargeable-Batteries/dp/B01JGF425I/ref=sr_1_fkmr0_1?keywords=EBL+14500+3.7V+800mAh&qid=1575860598&sr=8-1-fkmr0 ) Furthermore, with regards to customising the frame: what sort of paint is suitable. I'm assuming acrylics, or acrylic airbrushing, but I just want to double check. Obviously, this will just be the wooden frame not any of the mechanisms/bits behind it. I was just thinking of something silly like adding tabby stripes. Finally, perhaps a silly question: I'm going to be mounting a Raspbery Pi to it, hopefully. Is 3 (Model A), or 4, more suited? And, do you just add it to the frame of the body/board -obviously with relevant connections-, which is as I understand it? I'm pretty ok at model-building, and fairly average at programming so I'm hoping the "learn as you go" approach will be suited, plus the open source nature and all the really good community resources. Cheers :-)
Hi all, I try to put my FanCat into operation with the Shoulder Rolls. In opencat.h there is #define WALKING_DOF 8 which I changed to 12. A first test led to my FanCat fidgeting uncontrollably. Are there any other points to consider? Greetings from Germany Steffen
I wrote my own algorithm to generate gaits. It's simple but inconvenient to use. I'll try to organize and even write a paper for it. It may be too unprofessional to be accepted though.
To my knowledge, there are many professional simulation softwares used by robotics majored students and researchers. I'm waiting for those guys to train Nybble, and hopefully derive better results than I do.
sir i also asked you same question on your youtube channel and you told me something about man-learning so will you be able to elaborate and explain me
The algorithm uses tens of parameters for each gait. In short it uses inverse kinematics to create a mapping between joint angles and foot contacts. Design the trajectory of one leg then collaborate all four legs. Save the angles as animation frames and play it on Nybble. Imagine Nybble as a cheap electric keyboard compared with an expensive piano. It's up to you to play any melody on it.
When developing, I programed across different languages for my convenience. Being a short program, the physics simulation was done in my mind. Most of the tuning depends on my intuition and experience. It still takes several hours to fine tune one gait.
I hope people in serious robotics could teach us the right/professional way to generate gaits.
There are a lot of popular simulators, such as Webot. I haven't got a chance to learn them though.