Sixleg Progress Log

From MARS Wiki

We checked the current for one of the servos. The static state pulled 50mA and maximum strain was 0.3 A on each servo. We rewired the pins to match the sequencer diagram. We also played around with the walking algorithm. The sixleg had problems keeping itself upright and we need to work on stabilizing the legs. A few ideas include shaving down the crossbars in the legs so that the joints will be tighter. --Atlyles 20:58, 13 February 2008 (EST)

Tonight we replaced some of the hardware on the legs. We wound up using some heavier bolts and washers to put more tension between the two different parts of the leg, so that they are a lot more stable. All the legs were taken care of minus one, of which we ran out of hardware to replace it with. Overall, the legs seem a lot more sturdy and next week we will test them by using the current walking algorithm we have. --Nhill512 20:01, 20 February 2008 (EST)