Tuesday, March 14, 2006

Lead by Nose Programming

Here are a pair of 3-DOF legs. All I need to do now is add the servo controllers. I've made the limbs in such a way that it is possible to dissengage the motor and potentiometer just by removing two screws. Using this method it is possible to program the robot "Lead By Nose style". So in order to program my robot to perform a specific repeatable motion all I have to do is dissengage the motor and pull the joints to whatever position I like. The potentiometer is still engaged so it will track where I pull the joints to. I can then simply record which positions I like, re-engage the motor and play back the joint trajectories and Bob's your uncle!

Here are some pics of the two legs together..


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