Just got my EH3-R going.
movies at:
This pattern gets scaled in length for the length of stride, scaled in height to control the height of the step, offset from the body, and rotated through space to control the stance and vector of motion. This data then represents x-y-x positions in inches.
This is then fed into an inverse kinematice engine to drive the servos to specific joint angles. This also allows me to set the ride height of the beast as well.
The unit is calibrated in degrees and inches.
controls for: vector of motion gait length gait phase for each leg to perform different gaits step length step height offset of tip from center body ride height
future controls: ability to rotate entire platform around a point in space . This will all it to effect smooth turns without scrub on the floor. more gait steps for smoother ride, and variable speed through the pattern.
Main processor is Servo Pod from newmicros.com Lithium Polymer batteries from lightflightrc.com
look for my hexapod review in a (near) furture Nuts N volts, and in depth coverage in a later issue.
Started programming it this weekend
Wooo Hooo