Progress of BASE.001: A Self-Taught Humanoid Project.
Progress of BASE.001: A Self-Taught Humanoid Project. UPDATE 2021/04/24: the robot went crazy while on the testing bench and it bent the metal brackets on the legs again... Calibrating the servos each time the frame gets deformed isn't gonna work in the long run so now I'm forced to switch to 3D printed brackets for the motors. Code won't be updated until then, but I hope to publish the latest working code for you all. (github and project documentation at end of post) As of this post, BASE.001 is able to automatically get back up when it detects that it tipped over (both front and back recovery is possible). Walking code hasn't changed for a while, as I'm learning how to make my servo controller "non-blocking" so I can read data from the IMU and react to it in real time. Major changes from the last time I posted are: ESP8266-based board instead of a Mega (previously I did use it, but now it's way more integrated) Wifi monitoring with Blynk + local ser