Development of Walking Gait for SpotMicro | Spot Micro Walking Demo

I developed a walking gait for my SpotMicro. I use a walking gait algorithm utilizing keyframe animation and interpolation. I will discuss how those techniques are used to build a walking gait for SpotMicro. I further demonstrait walking gaits for forward, backward, and rotation patterns. At the end of the video, I include a demo of the finished walking gait algorithm in action.
Related Videos:
• Inverse Kinematics for...
• How to zero a servo mo...
Chapters:
0:00 Intro
0:22 Keyframing
1:08 Interpolation
2:50 Balance
3:38 Calibration
4:32 Walking Gait
5:39 Demo

[@ChrisLocke1969]

great progress, my friend! keep sharing, please! 👍👍👍

[@guty_18]

I'm also building a Spot like yours. These videos are encouraging me to continue with the project :)
One question, when you talk about calibration how do you manually set every servo to 0?
thanks

[@AdvancedHobbyLab]

That's good to hear! Building a robot is a great experience.
If you haven't seen it, I have a video on how to zero servos: ua-cam.com/video/mwpIMD-3udw/v-deo.html
In short, you pick an angle, like 90 deg. You then command the servo to that angle before mounting the servo horn. After the robot is assembled, you can further zero it in software by manually adjusting an offset from the zero position until it is perfect. I hope that helps.

[@guty_18]

@@AdvancedHobbyLab That is how I did it when I built spot a couple of months ago, I wasn't sure if you where doing it any other way, so I asked.
Thanks for the link :)

[@martinsvoboda1237]

Do you use any feedback procedure or just forward

[@AdvancedHobbyLab]

No, there is no feedback in this robot. I would like to work on that someday.

[@ManoBiletsky]

Is your code available somewhere? I would really like to see how you accomplished all this. Looks great!

[@AdvancedHobbyLab]

Thanks for you interest! I haven't posted my code yet. I need to clean it up a little first.

[@ronaldwichhart3604]

@@AdvancedHobbyLab please open source this! its brilliant. i have a spot micro too but the gait was always off!

[@shz7210]

try to add llm to take command and navigate

[@AdvancedHobbyLab]

That would be cool! I have to work up to that.

[@Paul-rs4gd]

Very nice job! I appreciate the amount of work that went in to achieving that rapid gait. I was working on a SpotMicro robot too. I kind of stalled on the project, but you can see the creep gait that I achieved here: ua-cam.com/users/shortsmh5To0IZhyk

[@AdvancedHobbyLab]

Thanks! You have a nice creep gait and I like the voice activation.