Robot walking with IK – V0.0

This is rather agony and sliding but please take into account that nothing was fine-tuned, no balancing was used. I just dropped the robot with its new IK walking code on the table 🙂 This is a good starting point and definitely version 0.0…

New splitted power bus

This was the last thing I wanted to do but we had to increase the capacity of our power supply using another SBEC. This way we can provide 9As which seems to be enough. Only 5-6 hours of work and the brand new power bus works in production! 🙂

Ultra boring process in pictures:

New power bus components

Soldering Y servo cable

New cables

Before: rapid prototype powerbus with one SBEC

Proper leg based power buses

All servos connected

Y cables added

After: final cable config with 2 SBEC units

Walking with inverse kinematics (code testing)

Brand new walking algorithm has been worked out! 🙂 I can test it only without load because one voltage regulator (SBEC) would burn in normal mode.