Event
Cubic Doggo's Wouf takes first steps, ST3215 read latency becomes bottleneck
1 reports · 1 sources
The author of the open-source quadruped robot project Cubic Doggo, /u/SphericalCowww, says Wouf has completed its first walk. The author attributes the earlier low-speed problem to latency in the ST3215 servos' reading of position, speed, and torque: reading all three servos takes about 3–5 ms each time, and the ST3215's C++ SMS_STS library does not yet support synchronous reads. Feedback reading is currently disabled on Wouf. The author says that after switching to the ST3215, Wouf's walking speed exceeded expectations, but the servo speed is still lower than the Dynamixel used by Doggo, and the turning algorithm still has problems. Feedback reading is the input required for reinforcement learning, and whether it can be restored depends on the difficulty of developing synchronous-read firmware.
Report timeline
- Cubic Doggo Update: Wouf Takes Its First Steps
Wouf, the quadruped robot in the open-source Cubic Doggo project, has completed its first walk. The author traced the earlier low-speed problem to latency in reading position, speed, and torque from the ST3215 servos (about 3–5 ms per read across three servos) and has now disabled feedback reading on Wouf. After switching to the ST3215, Wouf's walking speed exceeded expectations, but the turning algorithm still has issues. The author believes the approach can be used for walking robots, and whether feedback reading (an input required for reinforcement learning) can be restored depends on how difficult it is to develop synchronized-read firmware.
Reddit r/robotics ·