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24
25 <div class="asm">
26
27 <!-- Header -->
28 <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
29 <div style="flex:1 1 300px;">
30 <h1 class="asm">Biped BRAT SEQ Tutorial (SSC-32 v2 with Register Support)</h1>
31 <p><b>Updated March 27, 2008</b></p>
32 <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
33 <p><b>Note:</b> This tutorial applies to the SSC-32 v2 with Register Support.</p>
34 <p><b>Software:</b> BRAT Projects — <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/minibipd.zip">minibipd.zip</a></p>
35 </div>
36 <div style="text-align:center; flex:0 1 280px;">
37 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat00.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
38 <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>
39 </div>
40 </div>
41
42 <!-- Section I title -->
43 <div class="asm-section-title">Part I — BRAT Configuration: SSC-32 Registers</div>
44
45 <!-- Steps 1–2 -->
46 <div class="asm-step">
47 <div class="asm-step-header">
48 <div class="asm-step-name">Registers — Verify Firmware Version</div>
49 <div class="asm-step-num">Steps 1–2</div>
50 </div>
51 <div class="asm-step-body">
52 <div class="asm-step-text">
53 <p><b>Step 1:</b> Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to the serial port and apply power. The green LED should light. Run LynxTerm.</p>
54 <p><b>Step 2:</b> Type <code>ver</code> and press Enter — you should see "SSC32-V2.01XE" or higher. If you have v2.01XE, test for register support: click "Reg." → "Read", enable "Initial Pulse Offset", click "Write", then "Read" again.</p>
55 <ul style="margin-top:0.4rem; padding-left:1.2rem;">
56 <li>If still enabled → correct version, skip to Step 4.</li>
57 <li>If now disabled → firmware needs updating, proceed to Step 3.</li>
58 </ul>
Eric Nantel 46.1 59 </div>
Eric Nantel 52.1 60 <div class="asm-step-figure">
61 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg01.jpg">
62 <span>Figure 2.</span>
63 </div>
64 </div>
65 </div>
66
67 <!-- Step 3 -->
68 <div class="asm-step">
69 <div class="asm-step-header">
70 <div class="asm-step-name">Registers — Update Firmware</div>
71 <div class="asm-step-num">Step 3</div>
72 </div>
73 <div class="asm-step-body">
74 <div class="asm-step-text">
75 <p>Download the 2.01XE firmware. Remove power from the SSC-32 and set the baud rate to 115.2k (refer to the manual if needed). Apply power again with the SSC-32 connected to the PC. Click "Firmware" along the bottom of the LynxTerm screen, then "Open" and browse to the firmware file. Click "Begin Update".</p>
76 </div>
77 <div class="asm-step-figure">
78 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg07.jpg">
79 <span>Figure 3.</span>
80 </div>
81 </div>
82 </div>
83
84 <!-- Step 4 -->
85 <div class="asm-step">
86 <div class="asm-step-header">
87 <div class="asm-step-name">Registers — Confirm Firmware Update</div>
88 <div class="asm-step-num">Step 4</div>
89 </div>
90 <div class="asm-step-body">
91 <div class="asm-step-text">
92 <p>When the firmware update is complete, click "OK" then "Exit". Repeat the version test: type <code>ver</code> and press Enter — the correct firmware version should be returned.</p>
93 </div>
94 <div class="asm-step-figure">
95 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg08.jpg">
96 <span>Figure 4.</span>
97 </div>
98 </div>
99 </div>
100
101 <!-- Step 5 -->
102 <div class="asm-step">
103 <div class="asm-step-header">
104 <div class="asm-step-name">Registers — Move to Neutral Position</div>
105 <div class="asm-step-num">Step 5</div>
106 </div>
107 <div class="asm-step-body">
108 <div class="asm-step-text">
109 <p>Place the robot as close to neutral as possible. Click "All=1500" in the bottom right of the LynxTerm screen. The robot should go to and hold neutral, resembling Figures 5-2 and 5-3. If any joint is off by more than 15°, remove the servo horn, rotate to align, and reattach.</p>
110 </div>
111 <div class="asm-figures">
112 <div class="asm-step-figure">
113 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg09.jpg">
114 <span>Figure 5 (LynxTerm).</span>
115 </div>
116 <div class="asm-step-figure">
117 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat01.jpg">
118 <span>Figure 5-2 (front neutral).</span>
119 </div>
120 <div class="asm-step-figure">
121 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat03.jpg">
122 <span>Figure 5-3 (side neutral).</span>
123 </div>
124 </div>
125 </div>
126 </div>
127
128 <!-- Step 6 -->
129 <div class="asm-step">
130 <div class="asm-step-header">
131 <div class="asm-step-name">Registers — Open Registers Page &amp; Set Defaults</div>
132 <div class="asm-step-num">Step 6</div>
133 </div>
134 <div class="asm-step-body">
135 <div class="asm-step-text">
136 <p>From the main screen, click "Reg" to open the Registers page. Click "Default" to initialize default values.</p>
137 </div>
138 <div class="asm-step-figure">
139 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg02.jpg">
140 <span>Figure 6.</span>
141 </div>
142 </div>
143 </div>
144
145 <!-- Step 7 -->
146 <div class="asm-step">
147 <div class="asm-step-header">
148 <div class="asm-step-name">Registers — Calibrate Right Hip (Servo #2)</div>
149 <div class="asm-step-num">Step 7</div>
150 </div>
151 <div class="asm-step-body">
152 <div class="asm-step-text">
153 <p>Select servo #2. Adjust the Offset slider until the joint is at a perfect 90° angle. The mouse scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
154 </div>
155 <div class="asm-step-figure">
156 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat10.jpg">
157 <span>Figure 7.</span>
158 </div>
159 </div>
160 </div>
161
162 <!-- Step 8 -->
163 <div class="asm-step">
164 <div class="asm-step-header">
165 <div class="asm-step-name">Registers — Calibrate Right Knee (Servo #1)</div>
166 <div class="asm-step-num">Step 8</div>
167 </div>
168 <div class="asm-step-body">
169 <div class="asm-step-text">
170 <p>Select servo #1. Adjust the Offset slider until the leg is perpendicular to the ground.</p>
171 </div>
172 <div class="asm-step-figure">
173 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat07.jpg">
174 <span>Figure 8.</span>
175 </div>
176 </div>
177 </div>
178
179 <!-- Step 9 -->
180 <div class="asm-step">
181 <div class="asm-step-header">
182 <div class="asm-step-name">Registers — Calibrate Right Ankle &amp; Left Side (Servos #0, 16, 17, 18)</div>
183 <div class="asm-step-num">Step 9</div>
184 </div>
185 <div class="asm-step-body">
186 <div class="asm-step-text">
187 <p>Select servo #0. Adjust the Offset slider until the foot is perpendicular to the leg. Repeat the same process for the left side: servos 16 (left ankle), 17 (left knee), and 18 (left hip).</p>
188 </div>
189 <div class="asm-step-figure">
190 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat04.jpg">
191 <span>Figure 9.</span>
192 </div>
193 </div>
194 </div>
195
196 <!-- Step 10 -->
197 <div class="asm-step">
198 <div class="asm-step-header">
199 <div class="asm-step-name">Registers — Write Offsets to SSC-32</div>
200 <div class="asm-step-num">Step 10</div>
201 </div>
202 <div class="asm-step-body">
203 <div class="asm-step-text">
204 <p>Click "Write" and exit LynxTerm when complete. Optionally, check "Initial Pulse Width" to automatically enable servos on power-up — if enabled, click "Write" again to save. This completes the register configuration. From now on, the servos will be automatically aligned and/or enabled whenever the robot is turned on.</p>
205 </div>
206 <div class="asm-step-figure">
207 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg04.jpg">
208 <span>Figure 10.</span>
209 </div>
210 </div>
211 </div>
212
213 <!-- Section II title -->
214 <div class="asm-section-title">Part II — BRAT Configuration: Sequencer</div>
215
216 <!-- II Step 1 -->
217 <div class="asm-step">
218 <div class="asm-step-header">
219 <div class="asm-step-name">SEQ Config — Open SSC-32 Configuration</div>
220 <div class="asm-step-num">Step 1</div>
221 </div>
222 <div class="asm-step-body">
223 <div class="asm-step-text">
224 <p>Install the SSC-32 Visual Sequencer and read its manual. Run the Sequencer program. Click "SSC-32" in the upper left corner. Servo min and max positions will be defined and joint angles entered. Take time to configure accurately — sloppy configuration leads to a poorly performing robot when sharing projects.</p>
225 </div>
226 <div class="asm-step-figure">
227 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt05.jpg">
228 <span>Figure 1.</span>
229 </div>
230 </div>
231 </div>
232
233 <!-- II Step 2 -->
234 <div class="asm-step">
235 <div class="asm-step-header">
236 <div class="asm-step-name">SEQ Config — Enable Servos One at a Time</div>
237 <div class="asm-step-num">Step 2</div>
238 </div>
239 <div class="asm-step-body">
240 <div class="asm-step-text">
241 <p>Each servo must first be enabled by clicking its Enable checkbox. Move the servo by adjusting its slider. Enable and configure servos one at a time.</p>
242 </div>
243 <div class="asm-step-figure">
244 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt06.jpg">
245 <span>Figure 2.</span>
246 </div>
247 </div>
248 </div>
249
250 <!-- II Step 3 -->
251 <div class="asm-step">
252 <div class="asm-step-header">
253 <div class="asm-step-name">SEQ Config — Set Min (−45°) for Channel 0 (Right Ankle)</div>
254 <div class="asm-step-num">Step 3</div>
255 </div>
256 <div class="asm-step-body">
257 <div class="asm-step-text">
258 <p>Move the slider for servo 0 to 45° (Figure 3-1). Right-click and select "Set position as min" (Figure 3-2). Set "Min Deg" to <b>−45°</b> (Figure 3-3).</p>
259 <p><b>Note:</b> Since register offsets were set in Part I, the mid-point of the slider is already the true neutral — no separate neutral step is needed here.</p>
260 </div>
261 <div class="asm-figures">
262 <div class="asm-step-figure">
263 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat05.jpg">
264 <span>Figure 3-1.</span>
265 </div>
266 <div class="asm-step-figure">
267 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt08.jpg">
268 <span>Figure 3-2 (set min).</span>
269 </div>
270 <div class="asm-step-figure">
271 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt09.jpg">
272 <span>Figure 3-3 (−45° entered).</span>
273 </div>
274 </div>
275 </div>
276 </div>
277
278 <!-- II Step 4 -->
279 <div class="asm-step">
280 <div class="asm-step-header">
281 <div class="asm-step-name">SEQ Config — Set Max (84°) for Channel 0</div>
282 <div class="asm-step-num">Step 4</div>
283 </div>
284 <div class="asm-step-body">
285 <div class="asm-step-text">
286 <p>Move the slider to 84° (Figure 4-1). Right-click and select "Set position as max" (Figure 4-2). Set "Max Deg" to <b>84°</b> (Figure 4-3). Return slider to 0° before proceeding.</p>
287 </div>
288 <div class="asm-figures">
289 <div class="asm-step-figure">
290 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat06.jpg">
291 <span>Figure 4-1.</span>
292 </div>
293 <div class="asm-step-figure">
294 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt10.jpg">
295 <span>Figure 4-2 (set max).</span>
296 </div>
297 <div class="asm-step-figure">
298 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt11.jpg">
299 <span>Figure 4-3 (84° entered).</span>
300 </div>
301 </div>
302 </div>
303 </div>
304
305 <!-- II Step 5 -->
306 <div class="asm-step">
307 <div class="asm-step-header">
308 <div class="asm-step-name">SEQ Config — Configure Channel 1 (Right Knee)</div>
309 <div class="asm-step-num">Step 5</div>
310 </div>
311 <div class="asm-step-body">
312 <div class="asm-step-text">
313 <p>Channel 1 is the right knee. Set min and max positions as shown in Figures 5-1 and 5-2. No angle adjustment is needed — the knee can reach ±90°. Return slider to 0° before continuing.</p>
314 </div>
315 <div class="asm-figures">
316 <div class="asm-step-figure">
317 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat08.jpg">
318 <span>Figure 5-1 (min).</span>
319 </div>
320 <div class="asm-step-figure">
321 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat09.jpg">
322 <span>Figure 5-2 (max).</span>
323 </div>
324 </div>
325 </div>
326 </div>
327
328 <!-- II Step 6 -->
329 <div class="asm-step">
330 <div class="asm-step-header">
331 <div class="asm-step-name">SEQ Config — Configure Channel 2 (Right Hip)</div>
332 <div class="asm-step-num">Step 6</div>
333 </div>
334 <div class="asm-step-body">
335 <div class="asm-step-text">
336 <p>Channel 2 is the right hip. Set min (−90°) as in Figure 6-1 and max (45°) as in Figure 6-2. Knees are bent in Figure 6-2 for clarity. Return slider to 0° before continuing.</p>
337 </div>
338 <div class="asm-figures">
339 <div class="asm-step-figure">
340 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat11.jpg">
341 <span>Figure 6-1 (min −90°).</span>
342 </div>
343 <div class="asm-step-figure">
344 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/brat12.jpg">
345 <span>Figure 6-2 (max 45°).</span>
346 </div>
347 </div>
348 </div>
349 </div>
350
351 <!-- II Step 7 -->
352 <div class="asm-step">
353 <div class="asm-step-header">
354 <div class="asm-step-name">SEQ Config — Configure Left Side (Channels 16–18) &amp; Save</div>
355 <div class="asm-step-num">Step 7</div>
356 </div>
357 <div class="asm-step-body">
358 <div class="asm-step-text">
359 <p>Click "Bank 3" to access channels 16–23. Channel 16 = left ankle, 17 = left knee, 18 = left hip. Configure identically to channels 0–2, but <span class="asm-warning">check the "Reverse" checkbox for all three left-side channels.</span></p>
360 <p>Set all servos to 0° (home) and save. Save as "ConfigSSC32.cfg" for a single robot, or a new name like "BipedBRAT.cfg" for multiple robots. Save in the install directory: <code>C:\Program Files\Sequencer_SSC-32\</code></p>
361 </div>
362 <div class="asm-step-figure">
363 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt12.jpg">
364 <span>Figure 7.</span>
365 </div>
366 </div>
367 </div>
368
369 <!-- II Step 8 -->
370 <div class="asm-step">
371 <div class="asm-step-header">
372 <div class="asm-step-name">SEQ Config — Import Pre-Made Projects</div>
373 <div class="asm-step-num">Step 8</div>
374 </div>
375 <div class="asm-step-body">
376 <div class="asm-step-text">
377 <p>Download <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/minibipd.zip">minibipd.zip</a> and unzip it into the SEQ install directory (default: C:\Program Files\Sequencer_SSC-32\). Click "Project" in the upper left corner.</p>
378 </div>
379 <div class="asm-step-figure">
380 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt13.jpg">
381 <span>Figure 8.</span>
382 </div>
383 </div>
384 </div>
385
386 <!-- II Step 9 -->
387 <div class="asm-step">
388 <div class="asm-step-header">
389 <div class="asm-step-name">SEQ Config — Import a Walk Project</div>
390 <div class="asm-step-num">Step 9</div>
391 </div>
392 <div class="asm-step-body">
393 <div class="asm-step-text">
394 <p>Click "Import", select "biped6-long stride.csv", click "Open" then "OK". Enter a project name or leave the default and click "OK". You should see "Import success". Click "Exit".</p>
395 </div>
396 <div class="asm-step-figure">
397 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt14.jpg">
398 <span>Figure 9.</span>
399 </div>
400 </div>
401 </div>
402
403 <!-- II Step 10 -->
404 <div class="asm-step">
405 <div class="asm-step-header">
406 <div class="asm-step-name">SEQ Config — Run the Walk Project</div>
407 <div class="asm-step-num">Step 10</div>
408 </div>
409 <div class="asm-step-body">
410 <div class="asm-step-text">
411 <p>Click "Sequencer" (Figure 10-1). Select "biped6-long stride" from the Project dropdown. Click "Project Loop" in the Play menu (Figure 10-3) — <span class="asm-warning">the robot will start moving immediately.</span> Use Stop or Pause to halt. If both legs move the same way, check that left-side servos have Reverse enabled.</p>
412 </div>
413 <div class="asm-figures">
414 <div class="asm-step-figure">
415 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt17.jpg">
416 <span>Figure 10-1.</span>
417 </div>
418 <div class="asm-step-figure">
419 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt18.jpg">
420 <span>Figure 10-2.</span>
421 </div>
422 <div class="asm-step-figure">
423 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seqt19.jpg">
424 <span>Figure 10-3.</span>
425 </div>
426 </div>
427 </div>
428 </div>
429
430 <!-- II Step 11 -->
431 <div class="asm-step">
432 <div class="asm-step-header">
433 <div class="asm-step-name">SEQ Config — Included Projects Reference</div>
434 <div class="asm-step-num">Step 11</div>
435 </div>
436 <div class="asm-step-body">
437 <div class="asm-step-text">
438 <p>Table 11 lists the included projects with video links where available. After getting comfortable, consult the Sequencer manual to create your own.</p>
439 </div>
440 <div class="asm-step-figure" style="flex: 0 1 auto;">
441 <table class="ref-table" style="width:auto;">
442 <tr><th>Project</th><th>Video</th></tr>
443 <tr><td>Balance on Ankle</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a></td></tr>
444 <tr><td>Balance</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a></td></tr>
445 <tr><td>Bow</td><td>—</td></tr>
446 <tr><td>Get up from Back</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a></td></tr>
447 <tr><td>Get up from Front</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a></td></tr>
448 <tr><td>Headbutt</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a></td></tr>
449 <tr><td>Kick</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a></td></tr>
450 <tr><td>Long Stride</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a></td></tr>
451 <tr><td>Turn</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a></td></tr>
452 <tr><td>Walk</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a></td></tr>
453 </table>
454 <span style="margin-top:0.4rem;">Table 11.</span>
455 </div>
456 </div>
457 </div>
458
459 <!-- Section III title -->
460 <div class="asm-section-title">Part III — Creating a Walking Sequence</div>
461
462 <!-- III Steps 1–13 are identical to the previous tutorial's Part II -->
463 <div class="asm-step">
464 <div class="asm-step-header">
465 <div class="asm-step-name">SEQ Walk — Create New Project</div>
466 <div class="asm-step-num">Walk Step 1</div>
467 </div>
468 <div class="asm-step-body">
469 <div class="asm-step-text">
470 <p>Run the Sequencer program. Select "empty" from the Project dropdown and click the black "+" to create a new project. Enter a name such as "BRAT-Walk".</p>
471 </div>
472 <div class="asm-step-figure">
473 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq20.jpg">
474 <span>Figure 1.</span>
475 </div>
476 </div>
477 </div>
478
479 <div class="asm-step">
480 <div class="asm-step-header">
481 <div class="asm-step-name">SEQ Walk — Select Required Servos</div>
482 <div class="asm-step-num">Walk Step 2</div>
483 </div>
484 <div class="asm-step-body">
485 <div class="asm-step-text">
486 <p>Click "Swap" to clear the screen, then select servos <b>0, 1, 2, 16, 17, and 18</b>.</p>
487 </div>
488 <div class="asm-step-figure">
489 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq21.jpg">
490 <span>Figure 2.</span>
491 </div>
492 </div>
493 </div>
494
495 <div class="asm-step">
496 <div class="asm-step-header">
497 <div class="asm-step-name">SEQ Walk — Arrange &amp; Name Servo Layout</div>
498 <div class="asm-step-num">Walk Steps 3–4</div>
499 </div>
500 <div class="asm-step-body">
501 <div class="asm-step-text">
502 <p><b>Step 3:</b> Click and drag servo boxes to match the robot's physical layout.</p>
503 <p><b>Step 4:</b> Optionally click the number in a servo box to name it and change its colour.</p>
504 </div>
505 <div class="asm-figures">
506 <div class="asm-step-figure">
507 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq22.jpg">
508 <span>Figure 3.</span>
509 </div>
510 <div class="asm-step-figure">
511 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq23.jpg">
512 <span>Figure 4.</span>
513 </div>
514 </div>
515 </div>
516 </div>
517
518 <div class="asm-step">
519 <div class="asm-step-header">
520 <div class="asm-step-name">SEQ Walk — Walking Sequence Overview &amp; Link Servo Pairs</div>
521 <div class="asm-step-num">Walk Steps 5–6</div>
522 </div>
523 <div class="asm-step-body">
524 <div class="asm-step-text">
525 <p><b>Step 5 — Walking sequence:</b> 1) Shift weight right · 2) Step forward · 3) Shift weight left · 4) Step forward. Steps 3–4 are mirror images of Steps 1–2.</p>
526 <p><b>Step 6 — Link servos:</b> Click "A⟺B" and link Servo 1 with Servo 17, and Servo 2 with Servo 18. This lets you swap left and right leg positions with a few clicks.</p>
527 </div>
528 <div class="asm-step-figure">
529 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq24.jpg">
530 <span>Figure 6.</span>
531 </div>
532 </div>
533 </div>
534
535 <div class="asm-step">
536 <div class="asm-step-header">
537 <div class="asm-step-name">SEQ Walk — Enter Starting Position &amp; Build All 4 Steps</div>
538 <div class="asm-step-num">Walk Steps 7–10</div>
539 </div>
540 <div class="asm-step-body">
541 <div class="asm-step-text">
542 <p><b>Step 7:</b> Set servos to Table 7 values (approximate). Click red "=" to overwrite Step 1.</p>
543 <table class="ref-table" style="width:auto; margin: 0.5rem 0;">
544 <tr><th>Ch</th><th>Deg</th><th>Ch</th><th>Deg</th></tr>
545 <tr><td>2</td><td>−25</td><td>18</td><td>25</td></tr>
546 <tr><td>1</td><td>−20</td><td>17</td><td>20</td></tr>
547 <tr><td>0</td><td>−8</td><td>16</td><td>8</td></tr>
548 </table>
549 <p style="font-size:11px; color:#666;">Table 7.</p>
550 <p><b>Step 8:</b> Click "A⟺B", deselect "Selected step", click OK, then green "+" to add Step 2.</p>
551 <p><b>Step 9:</b> Swap degrees for Servos 0 and 16 to shift weight. Click green "+" to add Step 3.</p>
552 <p><b>Step 10:</b> Click "A⟺B" again, deselect "Selected step", click OK, then green "+" to add Step 4.</p>
553 </div>
554 <div class="asm-figures">
555 <div class="asm-step-figure">
556 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq25.jpg">
557 <span>Figure 7.</span>
558 </div>
559 <div class="asm-step-figure">
560 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq28.jpg">
561 <span>Figure 9.</span>
562 </div>
563 </div>
564 </div>
565 </div>
566
567 <div class="asm-step">
568 <div class="asm-step-header">
569 <div class="asm-step-name">SEQ Walk — Test Walk &amp; Adjust Speed</div>
570 <div class="asm-step-num">Walk Steps 11–13</div>
571 </div>
572 <div class="asm-step-body">
573 <div class="asm-step-text">
574 <p><b>Step 11:</b> Click the sequence loop button under "Play". If the robot doesn't walk straight, increase ankle degrees to shift more weight.</p>
575 <p><b>Step 12:</b> Click "Advanced Play" for speed controls.</p>
576 <p><b>Step 13:</b> Use the Time slider to adjust speed — below 100% is faster, above 100% is slower. Click Loop to test, Apply to save to the project.</p>
577 </div>
578 <div class="asm-figures">
579 <div class="asm-step-figure">
580 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq27.jpg">
581 <span>Figure 11.</span>
582 </div>
583 <div class="asm-step-figure">
584 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq30.jpg">
585 <span>Figure 13.</span>
586 </div>
587 </div>
588 </div>
589 </div>
590
591 </div>
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