Thanks! It does have an IMU, although it doesn't have much impact on the pronking behavior. That is so smooth just because during the jump phase, the XYZ Cartesian position of each leg has a high rate feedback controller (400Hz), which results in a level takeoff and landing. They are similarly controlled after contacting the ground when landing. In some ways, pronking is the easiest gait! When walking, the IMU is mostly used to keep the center of mass over the feet when on non-level terrain.
Wow really awesome! Your gait model looks very stable even on grass. Do you think it can deal with unstable surfaces too or is that no in the cards just yet
Eventually. It turns out that "blind mode" or just using force feedback from the joints, lets it work over a pretty wide range of terrain as is, and can probably be improved a fair amount further.
Ciao mi sono iscritto oggi al tuo canale... il progetto mjbots e veramente fantastico.... amo questo cane robot... sarei felice se decidessi di fare una guida passo passo di tutti i componenti dove comprarli, come assembrarli, e soprattutto la parte software....
@@awesjosh Quando farai una guida passo passo anche io potrò provare a costruire il mio mjbots... ma poi scusa le parti da stampare in 3d dove le trovo???
The source code and 3d prints are in github.com/mjbots/quad Specifically, the 3d prints for the A1 are in: github.com/mjbots/quad/tree/main/hw/chassis/3dprint and github.com/mjbots/quad/tree/main/hw/leg/3dprint
@@awesjosh ciao josh ascolta perche non decidi di poter vendere il tuo robot anche già assemblato bello e pronto? magari se il prezzo e abbordabile potrei comprarlo!
While we have sold some quad A1s in the past, we are not doing so now. Unfortunately, the price is such that probably few hobbyists would deem it "affordable", but it does have the benefit of being completely open and customizable. There is a quad A1 in the works, and in the not too distant future we hope to offer it for sale once again.
