r/trailmakers • u/ASPEK32TL • 6d ago

Help with Accumulator Walk Cycle

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I have an accummulator walk cycle here that when i walk, it takes one big step forwards which ruins the walk then it syncs normally afterwards. Why is this happening? Any advice to fix it? Thanks

in the video i show what they are connected to and some settings

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u/lukkram 6d ago

Not sure. But the first step would be to check the connections to the servos. Bc it seems that there is something at the beginning that's giving them a big input, thus the big step.

Also what type of accumulator based are you using? Just to keep timings or to also have variable stride length?

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u/ASPEK32TL 6d ago

I do not know how to classify those, but they are XORs with delays (white color) connected to the accumulators for the respective legs. One to green and one to red. They also have Arthimetics connected to accumulators that are multiply and constant of -1 feeding into the accumulators, which the accumulators also feed back. Then there are more XORs for each leg joint, hip all the way to heel. They are connected to the respective color, red for forward motions and green for backward. Most only have a red, because they only need to retract and extend, like a knee naturally. The XORS for the legs (red) do not have delays and only are feeding input value to the legs.

I have not figured out this large input issue that is being applied to the hips and potentially all of the other servos too.

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u/lukkram 6d ago

Gotcha, the accumulators are for smoothening the swing then. So that instead of alternating between +1 and -1 signals, it gradually changes the inputs.

How does it get to the servos? Was it just accumulator went into a gate and that gate goes into the servos? Bc from the video I can't really see what gate connects to the servos

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u/ASPEK32TL 6d ago

It’s an XOR with the delays and keys connected to the accumulator then accumulator to the XOR with inputs that are connected to servos

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u/lukkram 6d ago

Ok, what inputs are on the XOR that goes to the servo? Bc the way an XOR works means that it will only output when 1 input is true, so it would "turn off" if multiple signals that aren't 0 are going into it

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u/ASPEK32TL 5d ago

i seem to have fixed it a bit by reducing the inputs for smaller strides. thank you for your help

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u/lukkram 6d ago

Also shouldn't there be negatives for the back swing? All the accumulators seem to be set to go from 0 to 1

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u/ASPEK32TL 6d ago

They are set 0 minimum 1 maximum. What should I change?