Unscheduled Spot Micro, Testing the kinematics

While testing the Forward kinematics, I knocked the robot and got the leg shakes up...

This is caused by the backlash in the gears of the servo with the position sensing pot on the output shaft. There was just enough force to prompt the controller to adjust the motor which then caused it to jump the other way. Cool effect, but not desirable. I was able to damp this by holding them with my hand and it stopped. This effect was only possible because the robot was off the ground and there is a bit of flex in the stand as well.

For more information visit https://github.com/Cyber-One/SpotMicro_MRL MyRobotLab http://myrobotlab.org/ ... https://www.youtube.com/watch?v=KJ8w3vjjGaE