Watch: Single Leg Prototype - Test 3 (Walk cycle, ground contact interaction)
Over the summer I worked on a simple walk cycle, ensuring the smoothness and precision of the movements. I installed an accelerometer that allows me to simulate a change in ground inclination: the algorithm changes the leg walking cycle, adapting it to the simulated terrain slope. The limit switch discussed in the previous post works simultaneously, raising the leg when an obstacle is encountered. This behaviour would not make sense in a real-world environment, but it is a good starting point for future more complex leg-ground contact interactions.