Controlling, Redesigning, and Testing Legs

04 Feb 2021- Nicholas Rossi

This week, a method for individually controlling legs independent of the main body controller has been created. The robot is now able to lift one leg in order to step while using the other three legs to move and tilt its body as desired. A logical controller for determining when and how to step has already been made. Now the logical controller and the singular leg controller will be combined to allow for full walking functionality.

Aside from the controls, the robots proportions including body size and leg length are being redesign in order to allow for balance to be maintained easier.