search

DeepShift-Labs / Project-Zeta

A biomimetic quadruped platform to develop a general intelligence 1 step at a time.
GNU General Public License v3.0
10 stars 2 forks source link

Developing Dynamic Stabilization PID loop/Algorithm #2

Open DragonflyRobotics opened 2 years ago

DragonflyRobotics commented 2 years ago

This robot is horribly imbalanced and needs a system of gyros and accelerometers. I made the circuit with an MPU-6050 6 axis IMU. But I am struggling to developed a simple Dynamic Stabilization algorithm.

DragonflyRobotics commented 2 years ago

I found a technique that involves using a PID loop that moves all 4 legs in the direction of the tilt proportionally to the magnitude of the tilt. I wonder if this would work with a rigid motor system. There is no dynamic or static spring compensation on the robot dog.