Nybble Gets A Training Safety Harness
As I was making code changes, I decided it was hard to see what was going on with Nybble thrashing around on the floor or threatening to leap off the table. So, Nybble now has training safety harness.
Here a motion sequence at lower battery voltage [460 (begin) to 449 (end)]: kbalance, kwk, kbk, kbalance, d
Here the same motion sequence at high (freshly charged) battery voltage [555 (begin) to 548 (end)]: kbalance, kwk, kbk, kbalance, d
Higher battery does give a faster motion but there is not as much difference as I expected.
BTW, these are more or less "normal" conditions where the gyros are enabled and SKIP is disabled in these tests. The skills are unmodified. Video is at 720p (60 fps).
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Good eye! Glad to hear you have found a better servo manufacturer. Who makes the new ones? Can you provide some specs and/or a weblink. Also, will you be updating your servo comparison Google sheet?
I got my Nybble while you were still in Pittsburgh in 2019. I worked on it over my Christmas holiday (only built the head!) and then got busy with other things. I returned to Nybble in May 2020. I completed the hardware and have been studying your OpenCat code framework ever since. I love this platform (hardware and software) - you and the Petoi team have done a great job!
Thanks for your kind comments! I look forward to sharing and learning with this great robotics community. Cheers! 😎