Now mostly its a bit lame, most of the motors fire and then lock up when the joint reaches its limit. However there is one bright spot. When the robot lays on the ground one arm waves backwards and forwards, suggesting that the point in space of each part of the arm causes the motors in the arm to move differently in a nicely oscillating format. This is good for me as it means that those weights in the arm may have been luckily very close, so with a bit of training maybe the whole robot can be made to oscillate just as i want.
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