{"id":267,"date":"2013-08-08T17:14:38","date_gmt":"2013-08-08T21:14:38","guid":{"rendered":"http:\/\/projectsofdan.com\/?p=267"},"modified":"2013-08-08T17:16:35","modified_gmt":"2013-08-08T21:16:35","slug":"videos-of-b-e-t-h","status":"publish","type":"post","link":"https:\/\/projectsofdan.com\/?p=267","title":{"rendered":"Videos of B.E.T.H.!"},"content":{"rendered":"<p>I&#8217;ve been really slack about ironing out the last few bugs and taking some video of B.E.T.H. in action&#8230; But here it is! Some of the movements are a little erratic, but that&#8217;s because i&#8217;m filming with one hand while controlling the dual joystick controller with the other.<\/p>\n<p>Here is a body forward kinematics demo. Here you can see that i can input body angles via the controller and the legs move as necessary to allow the body rotation without moving the feet.<\/p>\n<p><iframe loading=\"lazy\" title=\"B.E.T.H. Body FK Demo\" width=\"625\" height=\"352\" src=\"https:\/\/www.youtube.com\/embed\/IwvlLzjQKD8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>Next is the tripod gait. This is a simple and fast gait in which two sets of three legs forming a triangle move alternately.<\/p>\n<p><iframe loading=\"lazy\" title=\"B.E.T.H. Tripod Gait\" width=\"625\" height=\"352\" src=\"https:\/\/www.youtube.com\/embed\/j4XbrrmTPCQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>This is a wave gait. The wave gait is slow and moves only one foot at a time. The rest of the legs have to pull backwards in unison.<\/p>\n<p><iframe loading=\"lazy\" title=\"B.E.T.H. Wave Gait\" width=\"625\" height=\"352\" src=\"https:\/\/www.youtube.com\/embed\/nfb-E-voh1k?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>Finally, we have my favorite, the ripple gait. Two legs move at a time with one leg beginning to step as the other hits it&#8217;s peak height in the step. Because two legs move at once, its faster than the wave gait, but slower than the tripod.<\/p>\n<p><iframe loading=\"lazy\" title=\"B.E.T.H. Ripple Gait\" width=\"625\" height=\"352\" src=\"https:\/\/www.youtube.com\/embed\/rTDthspUNJc?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>For more info on gaits, here is a <a title=\"Hexapod Gaits\" href=\"http:\/\/www.oricomtech.com\/projects\/leg-time.htm#Hex2\" target=\"_blank\">good article<\/a> from Oricom Tech. My final code used here is available on my <a title=\"GitHub\" href=\"https:\/\/github.com\/TXBDan\" target=\"_blank\">GitHub<\/a>.<\/p>\n<p>For more info on B.E.T.H., head back to the <a title=\"The Game Plan for B.E.T.H.\" href=\"http:\/\/projectsofdan.com\/?p=32\">beginning<\/a>.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I&#8217;ve been really slack about ironing out the last few bugs and taking some video of B.E.T.H. in action&#8230; But here it is! Some of the movements are a little erratic, but that&#8217;s because i&#8217;m filming with one hand while controlling the dual joystick controller with the other. Here is a body forward kinematics demo. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[5,7,34,13,6],"class_list":["post-267","post","type-post","status-publish","format-standard","hentry","category-b-e-t-h","tag-hexapod","tag-phantomx","tag-b-e-t-h","tag-raspberry-pi","tag-robot"],"_links":{"self":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/267","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=267"}],"version-history":[{"count":2,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/267\/revisions"}],"predecessor-version":[{"id":269,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/267\/revisions\/269"}],"wp:attachment":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=267"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=267"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=267"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}