New Servo Follower Valves                                                        

New servo follower valve

I made new servo follower valves and installed them on the legs. The holes in these valves are of a narrow triangular shape, such that as the leg is nearing it’s target position the flow of air in or out of the piston cylinder is restricted. The slower movement minimizes the overshoot oscillation motion which was giving me a problem.

The video shows a leg test where the legs take turns going up and down rather slowly. There are still occasional sudden unexpected movements that are worrisome, but I think I will go ahead with the programming of the legs and cart just to see what will happen.