Does this look like a servo config issue? about spotmicro

[MZandtheRaspberryPi]

Oh, I think I am possibly mixing up the hip and shoulders with the upper leg in the config. Does the hip refer to the servos embedded in the head/butt of the robot, right next to the chasis/body? Ie the highlighted part in the screenshot below?

Then the shoulder is also called the upper leg? That could explain my confusion and then I definitely misconfigured my servos...

[MZandtheRaspberryPi]

I've actually corrected that and its much better now though I seem to have a servo or two that is "bad" and doesn't move all the way to commanded positions sometimes which makes standing up harder. I'll see about debugging that though, it's exciting to see it stand even if shakily!

[mike4192]

Hey sorry for the delay getting back to you. Have you resolved your issues? You mentioned you still have a servo or two is bad.

To answer your earlier questions, yes, the hips refers to the inner most joints attached to the robot frame. Lower leg is the knee joint, and upper leg is the joint after the knee.

[MZandtheRaspberryPi]

Thank you for the confirmation!

I just resolved the issues. I think I screwed some servo horns too tightly in. When the servo was moving through its range of motion, there were a couple places where it shook quite badly and couldn't get to a location. When I took it apart, put it back together, and made sure screws weren't too tight it worked much better. I actually got it walking just now which is pretty miraculous to me. I'll post a video a little later.

Thanks for all the support!

[MZandtheRaspberryPi]

Here's a video, thanks for all the help: https://www.youtube.com/watch?v=g6FMSfrcahk

I have some other stuff to do like some network issues with the RPI4, and i haven't installed any screens yet, but walking was my first goal, so I'm happy to be here. Thanks again for the awesome software!

[mike4192]

Awesome work man!!

I know it took a lot of work to get to this point. I'm glad my worked helped you get your robot up and running.