It's been a long learning journey for gaits tuning, taught me a lot of stuffs. When we are young, there's this thing in science we learned call 'optical illusion', you'll realize somehow naked eyes are not perfect. A robot can't be perfect too. Working around limitation and minimize errors are what engineers strive to achieve.

I know it could be a very easy task for most of the engineers in robotics but it's something really new for us. After tuning for a few weeks we figured there could be an issue with the PID controller we are using, so right now we are still experimenting with it!

What's the difference? Bend leg walking is now changed to straight leg walking for power saving (Experiments will be carry out to confirm).


So we changed it to straight leg kicking as well.