MicroRaptor Movies

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Tail Wagging (303 KB) - a simple sequence played back, actuating the two tail servos

Body Sway (322 KB) - another simple sequence, this time using SYNC_WRITE to control all four servos at once...

Standing Up (360 KB) - this is more complicated, and involves the full motion controller. Basically, I captured a sample of the robot in the standing position, saved it in long term memory, and then repositioned the robot into a crouch. I gave the robot a command to switch to the "Standing" position that I had earlier saved, and it dynamically generated a motion plan for each actuator that switched, over a fixed interval (2 seconds, or 60 cycles), from the position it happened to be in at the time to the Standing position.

Stand/Crouch (1.1 MB) - same as above, but standing, then doing a body sway, then going back to Crouched.

First Step (696 KB) - This is a sequence playback of the robot standing, and then taking a first step. This is all statically balanced, but I'm not helping it or holding it up or anything like that.

First Step (bigger) (2.73 MB) - this is another version of the First Step movie, but shot at 640x480 with better focus. MOV Format (606 KB)

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GUI in Action (1.6 MB) - this is a zipped AVI movie showing the operations GUI in action.

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MicroRaptor Walking (10.2 MB) - Finally, taking those first few steps. Still statically balanced.

MicroRaptor Walking Faster (9.1 MB) - Walking at a more reasonable pace.

MicroRaptor Walking Towards (9.3 MB) - Walking towards the camera, from a different perspective.

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