All you need are Vcc, GND, Tx and Rx. I believe I went with 115.2K, 8N1. If you have the Bluetooth module breakout like one that I have, the PINs are: RTS, RX, TX, Vcc (5V), CTS, GND and it connects directly if the match up the pins in the right direction.

I happened to already have this old stuff from Sparkfun and it worked just fine: https://www.sparkfun.com/products/12576

Hi Gero, That was it!! I changed it from the default of "1" to "2" and mission-accomplished. const char zero[] PROGMEM = { -22, 0, 0, 1, 0, 21, 2, 0, 0, 0, 0, 0, 0, 0, 0,-57, 16, -5, 55, 90, 4, 19, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-53, -20, -7, 64, 90, 35, 25, -10, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-23, -60, 5, 67, 45, 90, 13, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -2, -60, 22, 46, 19, 90, -4, -24, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, -57, 40, -5, 7, 90, -9, 19, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, -53, 55, -7, 4, 90, -12, 25, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-18, -23, 64, 5, 21, 45, -10, 13, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-65, -2, 67, 22, 90, 19, -9, -4, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-64, 11, 46, 40, 90, 7, -24, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-62, 16, -5, 55, 90, 4, 19, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-51, -18, -7, 64, 77, 21, 25, -10, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-19, -65, 5, 67, 27, 90, 13, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, -64, 22, 53, 5, 90, -4, -50, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 14, -62, 40, -5, -7, 90, -9, -5, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 19, -51, 55, -4, -10, 77, -12, -2, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-18, -19, 64, 7, 21, 27, -10, -13, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-65, 1, 67, 26, 90, 5, -9, -27, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-64, 14, 53, 51, 90, -7, -50, -37, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-62, 19, -5, 73, 90, -10, -5, -41, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-51, -18, -4, 86, 77, 21, -2, -38, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-19, -65, 7, 90, 27, 90, -13, -37, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, -64, 26, 53, 5, 90, -27, -50, 4, 0, 0, 0, }; The final-code is attached as well. Thanks for your persistent support. Regards, Ganesh

Hi Gero, That was it. I changed it from the default of "1" to "2" and mission-accomplished. Thanks for your persistent support. Regards, Ganesh

Hi Gero, Thanks again for your patience and guidance. After messing with the "leanForward" parameter from (-0.5 to -5.0), I guess I'm half way there. The test step (book) is about 1cm in height. The obstacleHeight is still at 3cms. However, unsure if the hind-legs will clear the book by adjusting this parameter alone. Any suggestions to help get the hind legs to get on top of the book? Behavior definition: const char zero[] PROGMEM = { -22, 0, 0, 1, 0, 21, 1, 0, 0, 0, 0, 0, 0, 0, 0,-51, 39, -6, 55, 90, -9, 22, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-17, 6, -7, 64, 37, 6, 25, -10, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, -55, 5, 67, 13, 90, 13, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 23, -54, 22, 43, -1, 90, 0, -17, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 35, -51, 40, -6, -7, 90, -9, 22, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 39, -17, 55, -7, -9, 37, -12, 25, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 5, 64, 5, -13, 13, -10, 13, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-52, 23, 67, 22, 70, -1, -9, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-54, 35, 43, 40, 76, -7, -17, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-33, 39, -6, 55, 41, -9, 22, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-13, 7, -7, 64, 14, -13, 25, -10, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, -52, 5, 67, -7, 70, 13, -9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 27, -54, 22, 51, -22, 76, 0, -37, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, -33, 40, -4, -29, 41, -9, 2, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 47, -13, 55, -4, -30, 14, -12, 4, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 8, 64, 8, -13, -7, -10, -7, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-52, 27, 67, 26, 70, -22, -9, -21, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-54, 42, 51, 49, 76, -29, -37, -31, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-33, 47, -4, 69, 41, -30, 2, -34, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-13, 7, -4, 80, 14, -13, 4, -32, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, -52, 8, 84, -7, 70, -7, -30, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 27, -54, 26, 51, -22, 76, -21, -37, 4, 0, 0, 0, }; Thanks, Ganesh

Hi Gero, Yes, I placed an obstacle of precisely 3cms in height. It was a book. However, the front legs are not lifting high enough to clear the book. The hind legs do lift more... but due to the issues with the front, the back does not seem to have a chance. Can you please tell me how I can fix this? Will try more stuff this evening after work. Thanks, Ganesh

Hi Gero, Yes, I placed an obstacle of precisely 3cms in height. It was a book. However, the front legs are not lifting high enough to clear the book. The hind legs do lift more... but due to the issues with the front, the back does not seem to have a chance. Can you please tell me how I can fix this? Will try more stuff this evening after work. Thanks, Ganesh

Hi Gero, So made some progress. The leg behavior has improved so to speak 😀. I now believe I have a better understanding between a posture, gait and behavior. In this case, I believe we are dealing with a behavior. So here are the few things I fixed: (1) The first number in the first line was changed to a -ve number to classify it as a behavior. (2) The number of columns was incorrect in the python script when it formats the CSV file and I fixed line# 273 to this: f.write("4, 0, 0, 0,") instead of f.write("4, 0,") (3) I also set the second line to "0, 21, 1," in the array definition below to indicate the start-frame, end-frame and how many times to execute the frames. (4) Here's the "zero" behavior array definition: const char zero[] PROGMEM = { -22, 0, 0, 1, 0, 21, 1, 0, 0, 0, 0, 0, 0, 0, 0, 29, 76, 53, 68, -4, 4, -14, 30, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 44, 65, 52, 73, -11, -19, -12, 39, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 60, 19, 60, 70, -11, -1, -11, 47, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 71, 18, 70, 83, -6, 2, -7, -2, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 75, 29, 71, 53, 1, -4, 9, -14, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 76, 44, 68, 52, 4, -11, 30, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 86, 60, 73, 60, -46, -11, 39, -11, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 71, 70, 70, -26, -6, 47, -7, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 75, 83, 71, -24, 1, -2, 9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 35, 76, 53, 68, -31, 4, -14, 30, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 57, 86, 52, 73, -39, -46, -12, 39, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 22, 60, 70, -40, -26, -11, 47, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 22, 70, 109, -31, -24, -7, -26, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 35, 71, 69, -19, -31, 9, -43, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 57, 68, 68, -14, -39, 30, -40, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 86, 80, 73, 80, -46, -40, 39, -40, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 90, 70, 94, -26, -31, 47, -34, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 90, 109, 102, -24, -19, -26, -21, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 35, 90, 69, 102, -31, -14, -43, -4, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 57, 86, 68, 99, -39, -46, -40, 11, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 22, 80, 91, -40, -26, -40, 25, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 22, 94, 109, -31, -24, -34, -26, 4, 0, 0, 0, }; (5) Video attached. (6) It's getting there, but not there yet. The front legs are lifting high enough. I also changed the obstacle-height by 1cm to 4cms. Any ideas as to what might still be going on? Thanks much in advance. Regards

OK, that's the part that's pretty confusing to me. I'm guessing this should be a behavior. So, the first number in the first row has to be be "-22". But for the second line (that I'm probably missing) which defines the 3 elements that indicates which start-frame to which end-frame needs to be executed, x number of times. I'm afraid I'm unable to figure that out. Could use some help there. Thanks for your patience.

Thanks Gero. I tried your program and the results were totally unexpected. Attaching the CSV and a short video. Also, here's my definition of the derived gait inside the "zero" definition in the "InstinctBittle.h" file for the test. const char zero[] PROGMEM = { 22, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 29, 76, 53, 68, -4, 4, -14, 30, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 44, 65, 52, 73, -11, -19, -12, 39, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 60, 19, 60, 70, -11, -1, -11, 47, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 71, 18, 70, 83, -6, 2, -7, -2, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 75, 29, 71, 53, 1, -4, 9, -14, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 76, 44, 68, 52, 4, -11, 30, -12, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 60, 73, 60, -40, -11, 39, -11, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 71, 70, 70, -20, -6, 47, -7, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 75, 83, 71, -18, 1, -2, 9, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 34, 76, 53, 68, -25, 4, -14, 30, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 54, 80, 52, 73, -32, -40, -12, 39, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 72, 22, 60, 70, -32, -20, -11, 47, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 88, 22, 70, 98, -27, -18, -7, -19, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 34, 71, 65, -17, -25, 9, -36, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 54, 68, 64, -12, -32, 30, -34, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 72, 73, 75, -40, -32, 39, -33, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 88, 70, 88, -20, -27, 47, -28, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 90, 98, 96, -18, -17, -19, -21, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 34, 90, 65, 96, -25, -12, -36, 1, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 54, 80, 64, 93, -32, -40, -34, 16, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 72, 22, 75, 91, -32, -20, -33, 23, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 88, 22, 88, 98, -27, -18, -28, -19, 4, 0, };

Hi Gero, I have tried to modify your kinematics_bittle.py to build a Gait for climbing a step. Not much luck so far. I'm attaching the modified-code that I've been playing with. Can you please assist if possible? Thanks, Ganesh

ok, sounds good. Thanks.

This is some pretty cool stuff. Thanks much for sharing.

Thanks for sharing Gero. Will check it out.

Hi Rongzhong, Thanks for your super fast response. I will give the 'stp' behavior a try and see how that goes. Will reach out to you if additional help is required, if that's ok with you. Still trying to decode the code that you've already posted on GitHub. Meanwhile, I forgot to mention earlier... I happened to come across this inspiring post of yours on the Arduino create blog: https://create.arduino.cc/projecthub/RzLi/petoi-bittle-bbfb96 I have tried to do my part to purchase multiple units of your product. Hope that helps!! Thanks again!!