Search found 5 matches

by kamal_carter
Thu Oct 27, 2022 4:32 pm
Forum: Python
Topic: Sign of torque values
Replies: 2
Views: 5859

Re: Sign of torque values

Hello Aditya, From what you described, that is the desired/correct feedback you are getting for the hexapods' torques at the legs. hexpodLeftRightLabel.png Using the image above you can see actuators are oriented differently between the right and left leg for easier mounting. This mounting makes it ...
by kamal_carter
Fri Aug 19, 2022 4:32 pm
Forum: Python
Topic: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Replies: 2
Views: 3796

Re: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)

Hello Aditya, we are glad you are using one of the HEBI Robots. We don't have a particular function that can calculate all parts of the equation of motions, but we do provide the tools to get you 90% of the way there. To compute the effect of gravitational forces g(q) on the legs, you can use our gr...
by kamal_carter
Thu Aug 04, 2022 1:57 pm
Forum: User Stories | Problem, Approach, Solution
Topic: Position bias
Replies: 1
Views: 6677

Re: Position bias

Hello bkson, I am sorry to hear about your actuator positioning problems. However, since your actuator is older, it may be a problem with the actuator encoder. Recently we have provided firmware updates to try to mitigate these problems. In the Scope, software navigate to firmware updates and update...
by kamal_carter
Wed Aug 18, 2021 3:50 pm
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 52545

Re: X8-16 backdrivability

Hello Qiang, First off thanks for using the actuators. We always love seeing our products get used on interesting things like exoskeletons :D To have the actuators become backdriveable what you want to do is control the effort of the actuators. I would first do this in Scope . Command the joint you ...
by kamal_carter
Fri Jul 09, 2021 1:53 pm
Forum: Introductions | New user? Introduce yourself!
Topic: Yo! I am Kamal
Replies: 0
Views: 12910

Yo! I am Kamal

Hello everyone, I am Kamal, and I am an application engineer here at HEBI robotics. I am really excited to be working here, and I got some really cool projects that I am planning. I am the person uploading to HEBI's social media platforms, so please feel free to ask me if you have any questions abou...