Watch: Two feets roll balancing
In a recent overhaul, Continuity's design underwent a meticulous weight reduction, shedding non-essential components for enhanced efficiency. Then, I started testing balancing on the roll axis, a crucial step towards achieving stability. However, friction-induced squeaking in the plastic joints posed an initial challenge, partially limiting the movements of the legs and causing very annoying noises. I managed to fix the problem using WD-40 lubricant. Balancing is achieved using a simple accelerometer, with future plans to integrate force pressure sensors on Continuity's feet for enhanced feedback. The code I'm using for balancing is not very well refined and occasional failures are acknowledged. But generally speaking, it works well!