I just got my Bittle early this week and finished the assembly and calibration. But I find it really hard to for the dog to keep balance, especially when walking slowly. Is there any trick in calibration or adjusting the center of mass to make the dog more robust?
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In your pictures, the left-back leg (joint 15) is a little off. The upper edge of the down leg should be parallel to the edge of the tuner.
The front side of the battery is heavier. If the robot falls forward, you can slide the battery backward or install the battery reversely. A video showing how the robot falls over will help.
We have assembled 1000 Bittles and fine-tuned about 100 units. The parameters usually walk well. However, considering the inconsistency of assembling, you may attach some weight to counterbalance the variation.
I think the code should be up-to-date.Here are pictures of the calibration.
Could you take a picture or video showing your calibration state with the joint tuner as a reference? I also suggest you download the newest OpenCat repository on GitHub as we keep upgrading the code.