With very limited resources and knowledge, I started small. Smaller structure avoids a lot engineering problems of those larger models. It also allows faster iterations and optimization, just like rats adapt faster than elephants. Regardless the hardware, the major control algorithm could be shared once accurate mapping of DoFs is achieved. I derived a motion algorithm (with a dozen of parameters) for multiple gaits. The current fastest speed is achieved with trotting(2-leg-in-air). As I constantly add new components and change the CoM, while the adaptive part is not good enough, I reserve the tuning time for finalized models.
On top of the motion module is a RasPi. The Pi takes no responsibility for controlling detailed limb movements. It focuses on more serious questions, such as “Who am I? Where do I come From? Where am I going?” It generates mind and sends string commands to the Arduino slave. Motion instructions can still be sent to the Arduino in a slower manner. A human remote sits in the middle to intercept the robot’s control of its own body. It will still hold certain instincts, like refusing to jump down a cliff.
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