AX12 Darwin Assembled Testing Walking Gait Program

Biped Robot Gait Development and Testing

Gold Rush Online - Ripple and Amble Gait Walking

I have temporarily mounted all of Gold Rush's electronics to the top of his chassis so I could start testing his walking.

AVR Dynamixel AX-12 Controller Running IK and Gait Engine

I was able to get my IK functions and gait engine running on my AVR micro.

Below is a short video of the front left leg running an 8 step ripple gait in the forward direction.

Gold Rush's Walking Gaits

I have uploaded two videos of walking gaits that I have been working on for Gold Rush.

First up is a video of an eight step ripple gait:


This video showcases an amble gait as well as a feature that allows the robot change walking gaits on the fly:

Second Amendment's New Amble Gait

Improved Quad Walking Gait Sequence

Second Amendment's gait was functional and that is about it. It was clunky, mechanical looking and inefficient.

SA's gait was very simplistic. Basically alternating diagonal sets of legs would be raised and moved. While this works it is sloppy and prone to wondering (unable to walk in straight lines). Also, due to program structure, SA was unable to both walk and turn at the same time. These things had to be improved!

Enter the ripple gait. SA is now programed with an eight step ripple gait (leg up and forward, leg down, move body forward 6x). In addition it is now possible for him to turn while walking opening a great amount of possible body translations.