This topic is to report on my personal project of humanoid robot named Alion. Its purpose is to make a very low cost stunt robot able to walk (for the moment)
It is composed of a biped base of 8dof, an upper body of 9dof and a head of 2dof.
The used servomotors are robotis AX-18.
The inertial reference system is a yocto-3d
The foot contact is detected by two simple switches below each foot
All is connected by USB to a giada computer with an i5 and Ubuntu installed.
The library used is yocto library and pypot.
The first test of control rates have been performed and it is validated.
My first issue is that my motor of knee says :
"Pypot.dynamixel.io.dxltimeouterror: motors 4 did not respond aftersending dxlreaddatapacket(id=4, address=36, length=2)"
Few seconds after the start of the program.
Next step: using high level robot controller in pypot.