The good old five bar kinematics (with an extended arm) seems to be well suited for a leg of a quad walker robot. It naturally creates a good step with very simple controls.
None of them draw a straight line with linear angle movement. It's fairly close at some angles but not good enough for good walking. I just finished implementing the kinematics calculations, quite a pain for a 5-bar.
Наука
I guess the end of the five bar draw a line, but are you sure that the end of the foot draw a line.
Anyway, very good work !
None of them draw a straight line with linear angle movement. It's fairly close at some angles but not good enough for good walking. I just finished implementing the kinematics calculations, quite a pain for a 5-bar.
@@boxsterpontus May be, I have something for you : ruclips.net/video/LkKpznhVJOk/видео.html