12/05, Rohit Hippalgaonkar

Hours: 4 hours (12 noon to 4pm)
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1) Inertia experiments (12 to 2 pm)
2) Preparing for presentation ( 2 to 3pm)
3) Meeting (3 to 4pm)
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1) We finally managed to test the robot to measure inertia values - with the hip-motor powered on, and adjusting of the gain on its torque controller we were able to get steady oscillations for particular gains, so we could

2) I realized I had considered the higher pair of hip springs to be on the outer leg in all my previous calculations - after correcting for this error, it turns out the second battery has to be slightly lower down (12 cm, as compared to 1.5 cm before, in the erroneous solution and the hip springs need to be moved up by about 12 cm (instead of 9 cm before, in the previous solution).

11/30, Rohit Hippalgaonkar

Thursday: 10.30 pm to 1 am
Friday: 10.30 am to 1 pm


1. Worked on presentation supposed to be given on 11/30