VR_Dev Posted February 20, 2018 Author Share Posted February 20, 2018 (edited) 6 hours ago, kcs123 said: Some slopes are still slippery for bot, but it walk much, much better than before Great progress. Thanks man. Nothing is tuned right now, so I'm sure with a little love it will be much better. I was gonna send the project out to you and ZodiusInfuser this morning but I remembered I have some file Paths hard coded I'm gonna need you guys to change. So I want that to be as easy as possible. I dont think its a lack of friction between the foot and the ground, as much as the foot bouncing off the ground. Like I explained in the IR next thread, the Servo Speed PID is responsible for slowing the foot down as it gets too the ground. If it hits the ground too hard it explodes, slightly to hard and it bounces back into the air, and if I turn the speed way down, the whole performance suffers. This is why I'm looking forward to trying to build suspension parts. So that the mech leg can hit the ground with some force, and not explode. This would also help increase ground contact. I'm going to draw the ground triangle a different color when all three legs have contact as opposed to just two. This should help debug maintaining ground contact throughout the translation forward. 6 hours ago, ZodiusInfuser said: That is one impressive terrain adaptation algorithm you've got there! Am I right in thinking you check the height of the leg relative to the ground on each update rather than just on contact? I as because if you were to translate this to IRL getting that height value won't be possible so another approach to terrain adaptation would be required, which is something I'm currently looking in to. Good luck tackling steering, especially if you want to combine translation/strafing with turning. Not impossible, but to do it well is likely to require a lot of maths and may not fit in with your current circular striding approach. Thanks! I'm really happy with it. I do measure the ground every frame, but it could be done just on contact if need be without much change in performance. If it had to be on contact, I would just set the active balance target once contact was made, instead of throughout the whole stride. I have high hopes for turning. My initial thought is i will rotate a transform in unity that will be the desired vector. Then, if the difference in vectors is less then say 15 degrees, the bot turns the way I have now. Anything higher than that the bot will stop, rotate, then begin walking. Still long way to go on that and I'm out of town all weekend so prob no progress anytime soon. I've also thought about how easy it would be to make a few changes, and make this run stand alone in ksp. My method could be used for development of projects, then when they are done just a few changes will allow them to be run stand alone in ksp. I always thought one of these could get rigged onto an IRL foot. Edited February 20, 2018 by VR_Dev Quote Link to comment Share on other sites More sharing options...
Join the conversation
You can post now and register later. If you have an account, sign in now to post with your account.
Note: Your post will require moderator approval before it will be visible.