5.
Organism Self-balance
Spider Pi hexapod robot has a self-balancing function that automatically
adjusts the foot when the terrain is tilted, keeping the body, camera, sensor,
and controller balance.
However, for some reasons, the angle of the six-legged inclination is
limited, and the sum of the absolute values of the roll and pitch angles
should be less than 30° . If it exceeds 30° , the robot angle will remain still.
1 ) Start the VNC to remotely connect to the robot. Open the LX
terminal (shortcut Ctrl+Alt+T ), enter the command as shown below and
press "Enter" to locate the image recognition directory.
Image 5-1 Image Recognition Program Location
2 ) the robot on a horizontal table, and then LX after the command input
terminal shown in FIG, press "Enter" key ( Press Enter key), the body's self-
balancing procedure to start. At this point, we can see that the robot first
sits down, measures the plane angle, and then stands up, at which point the
body self-balancing game is ready. We can tilt the table at a certain angle,
and you can see that the robot keeps the height of the body by adjusting the
height of the six feet. Be sure to place the robot on a level surface before
starting the gameplay.
Image 5-2 Organism Self-balance Running Command
Image 5-3 Organism Self-balance Testing
3 ) Press "Ctrl+C" on the keyboard at the same time to stop running the
game program.
