The problem with the robot now is that the phase of the legs is constantly changing. More software assistance is needed to bring the phase into alignment.
How about using the accelerometer gyro sensor MPU6050 to determine the position of the legs?
There are two solutions. There must be a line that does not twist, or should be wireless.
Is it possible to recognize for 1 receiver the signal occurred by 4 transmitter at the same time?
If Bluetooth communication is possible to multi-pairing, and if the communication module is small enough, it may be possible. However, there is a hardware problem because the battery needs to be inserted individually.
Is there any DC motor capable of angle control?
If such a DC motor exists, this problem can be solved.
Is there a way to find out the phase without using the acceleration sensor and using the motor as it is?
A method of finding the phase of each leg using a Cds illuminance sensor can be considered. However, this method has some drawbacks in that it is less accurate and cumbersome. A lot of pre-tests are required for use, and additional laser modules may be required.
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