On 2023-12-03, at 5:12 PM, Jon Hylands jhylands@gmail.com wrote:

I've been working on a 4-legged walking robot for quite a few years, but in the last couple months I have been porting the code to Squeak.

Pretty cool use for a 02 and some servos :-)

tim -- tim Rowledge; tim@rowledge.org; http://www.rowledge.org/tim Strange OpCodes: AII: Add Insult to Injury

Sensational! The videos were fun to watch.

On Mon, Dec 4, 2023 at 7:49 AM Jon Hylands jhylands@gmail.com wrote:

Hi everyone,

I've been working on a 4-legged walking robot for quite a few years, but in the last couple months I have been porting the code to Squeak.

[image: Roz-Standing.jpg]

The robot is controlled by a Raspberry pi zero 2 w, running a headless squeak 6.0 image. I start up a base Squeak image on the pi, and load in the latest version of a Monticello package from a folder on the pi that is rsync'd from my linux desktop.

It does real time inverse kinematics and gait stepping, and the servos are all controlled directly from Squeak (they are serial bus servos) over a USB virtual serial port. All of the other sensors in use are also available over the same serial bus.

Here's a short video showing its first "walk" using Squeak:

https://www.youtube.com/watch?v=QngE8yyWzk8

This is a longer video that shows some of the hardware and software details of the robot:

https://www.youtube.com/watch?v=A0TRIFQKuSM

• Jon