Well, that would explain it…
The reason that the quadruped robot was doing the “funky chicken” instead of walking smoothly was mostly due to a major bug in the gait angle calculations. The angle of the leg is the sum of the “shoulder” and “knee” joint angles — but the angle commands to the knee servos weren’t taking the shoulder angles into account. This caused a really inefficient, jerking motion, rather than the relatively smooth gait that was intended.
It’s fixed now (and has a new chassis and circuit board). The video shows it moving more-or-less in a straight line, but with a few modifications to the gait tables, it can turn, at least in shallow circles.
Next on the list:
- Rubber tips for the feet
- Improvements to the turning routines
- Turn-in-place functionality
- Reverse (basically, just run the gait tables in reverse order)
- Wireless control
- A second microcontroller to handle control and communications