it walks

heavy emphasis on the quotes.

i just made a bunch of poses. my !amazing! animation tool works like this..

0-9 select the servo
a,z adjust the selected servo
space creates a pose
u updates a pose
[,] cycles through poses

yes. freak'n incredible ui. it's kinda fun to use in a tedious type of way, but what do you expect for 20 minutes.

www.z425.com/videos/it_walksish.ASF (2.3M)

i think if i spent some good time on it i could kick out a semi-reasonable walk, but..

i really, really miss that missing ankle dof. without it it is impossible to take a foot off the ground without the toe dragging. that toe dragging really sucks and forces you to do a lot more awkward weight transfer.

i think i am going to put that other dof in, but i am really not happy with using servos at all anymore. especially these joinmax servos (the servos have WAY too much slop in the gears.) 50oz/in also seems to be barely enough (especially in hip roll) and there is no way in hell i am going to pay $120 each for 200oz/in servos. i chose the joinmax servos because you can get cheap joints for them, but now that i have enough tools/skills to make my own, servos make even less sense.

i want to build a robot that walks intentionally and in control, not like these silly servo walkers that kinda just stumble around drunk. i guess the asimo is pretty close for a first big goal. (second big goal is mocap matching so it will look like a human.)