1. Motor function description
The example in this article will realize the forward function of the simple quadruped robot of the connecting rod group of the R296 prototype.
2. Electronic hardware
In this example, we use the following hardware, please refer to:
| main control board | |
| expanding board | Bigfish2.1 expansion board |
| Battery | 7.4V lithium battery |
Circuit connection: The DC motor is connected to the (5, 6) pins of the Bigfish expansion board.
3. Realization of motion function
Programming environment: Arduino 1.8.19
Download the reference routine (sketch_may11a.ino) to the main control board. For the experimental effect, please refer to the demonstration video on the official website.
/*------------------------------------------------------------------------------------
版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-05-15 https://www.robotway.com/
------------------------------*/
void setup()
{
pinMode( 5 , OUTPUT);
pinMode( 6 , OUTPUT);
}
void loop()
{
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}4. Gait changes
The prototype in the example makes a similar jumping action in which the front legs (or rear legs) rise and fall at the same time, the motion phase of the two front legs is the same, the motion phase of the two rear legs is the same, and the two front legs and the two The phase difference between the movements of the hind legs is 180°.
By adjusting the installation position of the output head and the connecting rod (rotate the output head on one side and install it after 180°), the movement phase of the legs can be changed, so that the phases of "left front leg, right rear leg" are the same, and "left rear leg, right front leg" With the same phase, and a 180° phase difference in motion between the two sets of legs, a contralateral gait like walking can be achieved.
For the source code of the program and the 3D file content of the prototype, see the connecting rod group simple quadruped - overview