Day 7: First steps

After many days of work and troubleshooting, we have finally succeeded in making forward movement on the robot. We use particular angles that we spent a lot of time on picking out, as well as speeding up the movements by a lot, and adding in our real-time angle adjustments, the robot can now create forward momentum. There are still several issues that require fixing. Most notably is the fact that this type of gait only works on smoother surfaces, typically indoors. On concrete and similar rougher textures, this does not work, at the feet grip too well. The most likely solution is to increase the foot grip so that it has roughly equal grip on both indoor and outdoor surfaces, so that we can create a one-fits-all gait.