Stabilizing Hexapod Robot on a Slope - Robot with RaspbeeryPi and Python

#python #raspberrypi #robot #hexapod
Stabilisation of the Hexapod Robot - this video demonstrates a new feature that is recently added to the robot, stabilization. A similar feature was already added previously(see the link below); however, the old version had some issues in the calculation as well as the code was not neatly written.
The new code(function) will allow the robot to adjust its orientation in any type of motion.
The old version of stabilization: • クモ型ロボットーバランスが取れるようになってきた
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[@LightRobotics]

Good job! Are you using a complementary or Kalman filter for this? I was thinking of using DMP, but there is no python code for it yet, gotta write it myself I guess =/

[@EngineerM]

Hi, thank you! For this sensor, I'm using a complementary filter. I plotted the sensor readings and it seems to be very stable without any drifting. I haven't heard of DMP until now; does it mean the gyro/acceleration sensor has a built-in filter so we can simply use the sensor readings?

[@LightRobotics]

@@EngineerM yes, it has built-in processor, but "simply" is the wrong word for reading it :D it uses quaternions, interrupts and all that stuff, and the difficulty of using it is on a whole new level. You can find libraries, written for Arduino. I've tried both complementary and Kalman filters, and for my purposes they're not accurate enough, so I'm going to try DMP someday

[@EngineerM]

You're right. I have researched it and it seems very difficult compared to filters like complementary filters :o. I always wondered why there are so many pins on MPU 6050 but now I see why.

[@cidadaodeatlas125]

if it was written in c++ would be more performatic?

[@EngineerM]

Hi, Yes, the response would likely be much faster in cpp. But the python code can still be optimised as well.

[@cidadaodeatlas125]

@@EngineerM thank you

[@cidadaodeatlas125]

​@@EngineerM do you know some online course that teachs how to code hexapods?

[@muhammadirvin]

can you give a tutorial for this code

[@rickyrichardsonricky8718]

Hey hi sir

[@rickyrichardsonricky8718]

Sir can you please teach me this hexa robotics,can I contact you personally if granted.

[@EngineerM]

Hi, thank you for visiting this channel. Currently, I'm not teaching as I still am a newbie in robotics; but if you have any questions relating to hexapod or robot, I am very welcome to discuss them on this channel ;). You can either comment on any of my contents, or at the discussion section(available for PC) to reach me. Discussion Section: kzbin.infodiscussion