Issues when running the robot

[Abdallatif Joqa]

hello guys,
after finishing the calibration of servo motors, we run the code to make it move but we encountered an issues you can saw it in the video down, our robot cant balance himself and keep moving randomly moves. does anyone have a solution for us ? it is because we didnt connect the IMU yet or theres any other things we should do please help us its an 

urgent thing

https://drive.google.com/file/d/1y0tDz2g8gAkzmA4ZBEc1ckht_yUTV0Hk/view?usp=sharing

[mtwo...@gmail.com]

I use my robot without the IMU. It should be able to walk without it. The video seems like the legs are moving at the wrong times (or out of order). Perhaps the servos are not connected to the correct locations?

[Pedro J. Prieto Gómez]

I think you should reduce the activation speed of each diagonal of the legs, that is, put a delay between one side and the other and their opposite ones in order to know what happens.

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[Nathan]

Hi, were you able to fix your robot? The gait in the video actually looks normal in terms of the synchronization of the legs and the movement. Could you post a slow motion video in higher resolution? Some things to check for: 1) correct calibration, particularly for the abduction/adduction motors 2) any other programs running on the RPi slowing down the code which would slow the frequency of the gait 3) you could increase the side-to-side width of the feet by increasing  `self.delta_y = 0.09` in the pupper/config.py file for better balance 4) use a battery instead of power supplies