3DOF Mini Quadruped
Derived from
Description
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!
youtube.com/watch?v=VsHNA3oLXC8
Instructions
1 backbone
2 hips
2 coxa_right
2 coxa_left
4 femur
4 tibia
12 9g servos. Design is optimized for Turnigy TG9e servos: 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.
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Can you post a Youtube video of it in action? I would love to see how it moves.
Here you go :) https://www.youtube.com/watch?...
Mind you, this is my first shot at walking bots, and the gait is kinda naive, but it works!
I don't have anything yet. I'm working on IK now, and I'm basically teaching it to myself from scratch, so it's taking some time :) I'll certainly put up videos as soon as I have something.
That looks great! Let me know about your power source and how many servos you can power with it at the same time. And I like that direct connection of two servos without the clamp bracket. The servo's gears are powerful. But can the servo's axis handle the weight without a clamp?
For the moment I'm running off USB, and it's plenty of power. I haven't tried measuring draw yet. The servos handle the static weight of the bot without issue. It's designed such that the force is mostly up from the foot through the tibia directly into the femur, and not much twisting moment. If you twist the tibia, it will pop the horn off over the screw, but for normal motion it's plenty strong enough.
With this many servos it would be extremely advantageous to use a switching regulator in conjunction with a 2S Lipo. This would greatly reduce weight over conventional batteries and provide ample power without straining the servos.
Exactly what I had in mind for getting a 3rd servo on each leg, thanks for making this.
License
Can you share your code? if you have any, i love the design.