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    Tomi Ade
    1d

    Trouble Uploading to Nyboard - stk500_recv(): programmer is not responding

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    4d

    On Definition Rule Issues

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    Struzck
    2021年4月28日

    pyBittle, Open Source library to connect and control Bittle

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    Tom Swann
    2020年7月06日

    Nybble Gets A Training Safety Harness

    在 Showcase

    As I was making code changes, I decided it was hard to see what was going on with Nybble thrashing around on the floor or threatening to leap off the table. So, Nybble now has training safety harness.


    Nybble resting in the training harness

    Here a motion sequence at lower battery voltage [460 (begin) to 449 (end)]: kbalance, kwk, kbk, kbalance, d



    Here the same motion sequence at high (freshly charged) battery voltage [555 (begin) to 548 (end)]: kbalance, kwk, kbk, kbalance, d



    Higher battery does give a faster motion but there is not as much difference as I expected.


    BTW, these are more or less "normal" conditions where the gyros are enabled and SKIP is disabled in these tests. The skills are unmodified. Video is at 720p (60 fps).

    4 則留言
    4 則留言
    R
    Rongzhong Li
    2020年7月06日

    Hi,

    The higher voltage makes the servo rotate faster to every target location. But because the main loop is not accelerated, the frame rate remains the same.


    You could test some even faster gait and turn on the turbo mode, such as trot and press the turbo button on the IR remote. Since the main loop gets faster, the speed of servo will become the bottleneck. Then you may notice a bigger difference between high/low voltages. Higher voltage will result in a smoother movement.


    I also notice that the cat is running with Tower Pro servos. I was only able to get those models when I was in the US. After I returned China, I visited several servo manufacturers and got some customized servos with better PID control. The joints' trembling is significantly reduced now.


    I really appreciate your research on these parameters and experiment setups. By thinking and sharing the answers, we can better understand the system. Thank you!

    按讚
    Tom Swann
    2020年7月06日
    回覆

    Good eye! Glad to hear you have found a better servo manufacturer. Who makes the new ones? Can you provide some specs and/or a weblink. Also, will you be updating your servo comparison Google sheet?


    I got my Nybble while you were still in Pittsburgh in 2019. I worked on it over my Christmas holiday (only built the head!) and then got busy with other things. I returned to Nybble in May 2020. I completed the hardware and have been studying your OpenCat code framework ever since. I love this platform (hardware and software) - you and the Petoi team have done a great job!


    Thanks for your kind comments! I look forward to sharing and learning with this great robotics community. Cheers! 😎

    按讚

    R
    Rongzhong Li
    2020年7月07日
    回覆

    It's a local brand that is willing to take small orders and optimize the parameters for our robot.

    After returning to China, I heard that Tower Pro was so popular in the past that most of the servos available on the market are now fake ones. I have no way to contact the original factory. That means, there's no quality control on all the servos we buy. So I won't update the old servo comparison sheet.


    What I can do is to ensure the servos we include in the kit are good ones. And we keep looking for quality servo manufacturers as we improve the overall performance of the system.

    按讚

    Tom Swann
    2020年7月07日
    回覆

    Great point!

    按讚