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Problem with balancing a toy car with spider legs

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Sadegh.j

Sadegh.j

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Hey every one

I want to make a toy car with spider legs. Using 6 legs, I have to balance to car while making it walk. I have some problem balancing it. any suggestions?
 

Re: Toy car

I would use inertial sensors and Kalman filters, but then again I am a Kalman geek. I would suggest keeping 3 legs on the ground while moving the other 3, and keeping the center of mass within the triangle of the grounded legs.
 

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