Pentapod Robot first steps using IK, Gait and Blending IK


Here it is… the first steps of our pentapod. Even if the algorithm produces precise results, the servo angle do require some offsets to work smoothly … and of course better servo motors (not these cheap and unbalanced).

The motion system is using a GAIT sequencer to produce the motion frames and the IK algorithm translates them into actual servo angles. Moreover a blending algorithm is used in order to change the body’s position/rotation during the step motion but without affecting anything.

[ Check out the previous stretching video ]

Soon there will be a smoother version.. until then enjoy this video!

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