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Q1: How can we know the servo is damaged?

A1: In Servo Test step, if the servo rocker arm shake, get stuck or can not rotate smoothly, with an abnormal sound, we can judge it as a damaged one.

Q2: Why the Sloth reboots in running?

A2:

1)  If you use the battery with protection board, the battery protection board will lower the voltage when the output current is higher than the standard, thus the sloth will reboot. You can remove the protection board on the battery’s cathode, be careful to operate. Or choose the battery without protection board.

2)  If the Sloth is in lower power, rebooting will happen too. Use a fully-charged battery (Supply voltage: 6V-8.4V)

3)  It coulbe be the servos are lacking for power. Open the program and go to Line 12, 13. “vel” is the servos rotating speed in “initialization or moving forward”; “vel_Back” is the servos rotating speed in “moving backward”; “delay_Forward”, “delay_Back” are the delays between two moving forward loops and moving backward loops.

a)     If rebooting happens in moving forward actions, you can decrease the value of “vel” or/ and increase the value of “delay_Forward”. For example, decrease “vel” value to 10, and increase “delay_Forward” to 1500.

b)     If rebooting happens in mocing backward actions, you can decrease “vel_Back” or/ and increase “delay_Backward”. For instance, decrease “vel_Back” to 8, and increase “delay_Backward” to 1500. You can adjust to a proper value as you want. Then click Upload.

Q3: Sloth walks too slowly when it moves forward. How to solve this?

A3: Sloth’s default speed is middle speed, the related sketch is “vel(mid), delay_Forward(mid) = (20, 750)”. You can change the speed value as shown below to adjust the walking speed.

change thevalue of vel and delay_Forward in line12 and 13 to as shown:

vel = 50, delay_Forward = 500

      Then click Upload.

Note: If you adjust the robot to a high walking speed, it may fall down and break. Thus it’s better to do some protection for the Sloth.

Q4: Sloth walks too slowly when it moves backward. How to solve this?

A4: Considering the structure of Sloth, it’s better do adjust a slow speed for backward walking. If you wan to adjust the walking speed, refer to Q3 to adjust the value. DO NOT adjust a high speed for walking backward to avoid possible falling down.

Q5: How to make the sloth more stable in walking?

A5: Cut to get two paper cushion for the robot feet, and stick them on the Sloth soles to maintain enough friction for a stable walking.