![]() ![]() Instead of using the vessel height to position the ground and foot targets, each foot target is now placed on the ground directly beneath it.Įach hip target is now set according to the ground position of it’t foot. #Kerbal space program controls 2018 full#The hexapod now has full terrain mapping and navigation capabilities. (Also why the recording actually has sound). My gf was gone so I worked on this pretty much non stop over the weekend. Looking forward to when you hit the VR implementation… If you watch to the end of the video you’ll see how great it is at it right now. I have been using it to do speed tests, which is why the rockets got lost. The stride length, PID settings, and max % can all be tweaked from my custom editor. Right now its just set to go straight, but when I start adjusting the launch vector, I will be able to control which direction the mech will travel. You can see in output log in my top video, at the beginning of every step cycle it prints the error, and what the stride is being adjusted by. So my stride length is 2 meters, and the steering PID can shorten that by up to 5%. The actual steering is adjusted by a PID loop which decreases one side’s stride length by a percentage of its default length. I wrote some simple stride length adjustment code, which allows setting the desired stride length for both the right and left legs at the beginning of each stride. I rigged the neck up with IK to create a steady gimbal arm,and finally got around to course correction while walking, which allowed the hexapod to walk the full length of the runway in about 15 minutes. Say scharette, is there any way I could get this moved to the Hexapod Forum? Didn’t see that when I first posted. Wow, very impressive work! Please do keep us updated as you progress. I worked super hard on this so I just wanted to show it off. I have a post over on the KSP forum but its a space exploration game, so mechs don’t always get a lot of attention. Thanks for checking it out, I hope this flies here. This will also help control COM on quadrapods. I have also rigged the “neck” with IK, to keep the head at a constant position. ![]() The target is set along the y axis in order to adjust the hip height to it’s desired position. Each leg must be at its target before the next walk cycle begins. The walking script is some simple logic to move the targets for the legs. Each servo has it’s own PID controller, which sets the speed of the servo every frame, based on the error between the actual position, and desired IK position. The blue skeleton is the actual servo position, and the red is the IK skeleton it is moving towards. In terms of robotics, the legs feature custom written IK code, which sets the servos in KSP. My next goal is to send a camera feed from KSP into Unity, so I can view KSP in unity, allowing VR piloting. Overall this technique is pretty efficient, allowing KSP to stay 50+ FPS. NET 3.5, which doesnt support memory mapped files, so I start a custom process that handles the bridge, then use simple input/output from inside KSP. net memory mapped files which allow me to send values between the two applications, which makes for much, much quicker development. This is incredibly time consuming however, so I decided to develop my own Unity Controller. Lots of mechs have been made in the game, some even that walk using simple sequencers to run the robotics. ![]() So I was going to buy myself a hexapod kit, but turns out they cost thousands of dollars, so I built one in my favorite game, Kerbal Space Program. ![]()
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