Progress

Since my last devlog, I’ve made great progress. I’ve been looking into inverse kinematics quite a bit and I was pretty successful. I managed to derive formulas for my calculations with a few drawings. I also started to build my robot. Actually, I’ve managed to build up one leg. The leg consists of three joints, each controlled by a servo motor.

Implementation

Furthermore, my last step was to put my equations into code, so I wrote a test program. Now I am able to convert the angles into coordinates and I can move the leg with coordinates wherever I want.

Challenges

The biggest challenge so far has been getting the math right for the inverse kinematics, but once I drew the leg and did my calculations on paper, everything came together pretty quickly.

What’s next?

My next actions would be to make some movement tests. I will try to make a first walking test and see how stable the leg performs. After that, the plan is to build the remaining legs and work on coordinating them together.