Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!
Experimental quadruped robot with 3 jointed legs
by davidbec08, published
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This was the first version of a simple quadruped robot with 3 jointed legs. It is around 40cm high. It was designed for Power HD 1501MG Hi Torque Servos (17kg/cm), but note that the torque/weight means it cannot bound or run and they are underpowered for this application.
I think it needs almost double the torque in each joint. To walk, it had to move one leg very slowly forward at a time, while shifting weight (rotating the hips) on the other 3 legs. It sort of stumbled and shuffled then fell over.
The purpose was to experiment with mechanics of 4 legged walking using low price servos before I embark on a project with more expensive ones. It will never be able to carry the weight of a battery.
There is a new version with geared joints here:
It is still experimental but shows more promise.
I have included the rhino file.
You will need screws, some rubber feet pads and a 100mm RC Car shock absorber/spring
The photos show more details.
To power it I use a laboratory power supply at 7.2V and it draws peaks of ~4-5A.
The 'hips' connect to the chassis from the SLAM/GPS experimental offroad platform. You can get that part from that project. The 'chassis adaptor' joins chassis pieces more strongly than was needed for the off road platform - if you want to use the adaptors for the off road platform, it just makes it longer and stronger.
I hope the photos make it clearer! I'm happy to reply to emails.
My suggestion: think of of how to improve it. It is under powered for its size. I may use gears in a future version.
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Experimental quadruped robot with 3 jointed legs by davidbec08 is licensed under the Creative Commons - Attribution - Share Alike license.
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