LOG 4 - Momo Walks

Momo walks now. Not well, but it walks.

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Getting the Gait Working

This one took way more thinking than I expected. Figuring out how Momo should actually move was the hard part, not writing the code. With only 2 servos per leg you can’t do a proper trot right now well lowkey thats a later problem, so it has to be a static crawl for now just to test. One leg moves at a time while three stay planted. Sounds simple until you’re trying to work out the timing and the angles for each joint at each stage of a step.

Went through a lot of iterations on the code before anything resembled walking.

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Printing and Testing Legs

Printed a bunch of different leg designs. Different lengths, different shapes, different joint positions. Had to keep testing to make sure the legs actually lined up right, because if the geometry is even a bit off the feet don’t land where the code thinks they should and the whole thing drags itself sideways.

A lot of print, test, adjust, print again.

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Where It’s At right now

It walks but it makes a lot of errors. Drifts off, doesn’t go perfectly straight, some steps land wrong. But it moves on its own and that’s the milestone I was going for.

Nothing is properly assembled yet either. As you can see in the video and pictures, the components are just sitting in there for now. The whole focus this round was on getting the base structure right and proving the movement works before I commit to printing the final parts.

I’ve got a decent idea of what needs to change now, both on the code side and the CAD side.

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Slow progress but good progress. Next up is cleaning up the gait and starting on the final build (Hopefully)