Bittle X falls under its own mass
Hello,
In the context of a school project I want to integrate more AI to the bittle X, I added a raspberry Pi 4 (for running ros) using the printable pi standoffs and also created a support (replacing the head) for an oak-d-s2 stereo camera with TPU capabilities. Under its new current load I decided to build a new battery composed of two 18650 cells. This setup adds approximately 200 grams to the robot, but the mass is pretty well balanced throughout the robot.
Recently, my robot started to loose its rigidity while in the balance state or any up position. It looks like the servos loosens after approximately 5 seconds, then usually the IMU kicks in to balance the robot back into position creating a jump or sometimes falling to its side.
I tried removing all added items but results are similar although much less severe, it readjusts more quickly but still doesn't stay completely still.
Does anyone knows why this occur and could it come from the code detaching the servos ? I'm running latest main branch code from the github.
Hello, Thanks for the interest ! I've added the subtitles to the video, you should be able to translate directly via youtube. If interested, here are all the parts we used on the robot: https://youtu.be/FMRfr2KGF78 Don't hesitate to come back to us if needed !