It was evident that the lack of balance of the robot was due to the starting leg positions being too far back, creating a tilt forward from the lack of support for the center of gravity. This could be addressed by changing the starting angles forward.
|New "longer" Mojo2|
with the new longer version, it was possible to start it walking. During the trials, the robot fell over on it's side and broke a "hip". This part was known to be an issue as it was printed with a clogged 3D printer nozzle. Luckily, it only required 45 min to print a new hip, and about 15 min to replace it.
once back together the gait examination continued... it became clear that Mojo2 was walking backwards - because it was programmed too! :0
The coding has be reworked and the servos reconfigured. Mojo is soon to be walking forward, I will have video in the near future. paw stability is now the biggest issue. more to come!
|Mojo 2.0 - A Compliant Quadruped Walking Robot "Dog"|