Walking Analysis

The statically balanced walking cycle for ROFI is composed of 14 key frames. Each key frame is statically balanced meaning that if the robot stopped it wouldn't fall over. Arduino Program for this walking cycle.

The statically balanced walking cycle for ROFI is composed of 12 key frames. Half of the key frames are not statically balanced, so the playback speed must be within a certain range to keep ROFI from falling over.