The Raspberry Pi is a very versatile platform for robotics. In this tutorial, we will implement the creep gait on a quadruped robot, and train and implement a LeNet model neural network (with the help of Keras and TensorFlow) in order to recognize special markers that tells the robot which way to turn.
The Creep gait is a dynamically stable gait, which means that the robot is stable at all points of movement. At any time, the robot forms a Y shape with 3 legs, while lifting the remaining one. Watch the creep gait closely in the video above. Initially the legs on one side are parallel to each other, while the legs on the other side are lateral. It will always lift the leg from the parallel side.
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