3DOF Mini Quadruped
by tmbg, published
I printed TheCase's excellent mini-quadruped design, and I love the simplicity of the parts, but I wanted a third degree of freedom in the leg for more complete kinematics, so I slightly redesigned the leg parts.
This also results in a slightly less bulky leg.
For now, I've left off the servo buttons at the coxa joint, but I may go back and add them back in for smoother motion.
If there's interest, I may workup a PCB which carries a Teensy 2.0 microcontroller board and provides power and support for twelve servos.
Update: Video of its first gait! https://www.youtube.com/watch?v=VsHNA3oLXC8
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1 backbone 2 hips 2 coxa_right 2 coxa_left 4 femur 4 tibia
12 9g servos. Design is optimized for Turnigy TG9e servos: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22928
However, any 9g servo will work, but the printed parts may need to be tweaked a bit.