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Experimental quadruped robot with 3 jointed legs

by davidbec08, published

Experimental quadruped robot with 3 jointed legs by davidbec08 Dec 8, 2014
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Summary

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:

http://www.thingiverse.com/thing:652121

It is still experimental but shows more promise.

Instructions

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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David if you are like me you want to take this to the next level i am wanting to print this and put two electric gyros on the spine to stabilize the robot and also allow it to stand on its hine legs due to the coding you can supply to the synchronization of the robot and gyros. also by adding gyros you can make a dog like trot by shifting the weight to either leg of the robot based on the opposite leg moving. i would also like to change the servos to outrunner motors that can be run by a non strong power source like solar panels or lipo battery's

Excorp,

There is an updated version of this robot here:

http://www.thingiverse.com/thing:652121

It has geared joints because the 'old' ones were underpowered.

It is still experimental, but right now I use HD1501MG servos for the hips and DSS-M15S for the Knees. The former are 180 degree servos and the latter are 270 degree servos.

UPDATED LEG FOR QUADRUPEDAL ROBOT DESIGN 583173

should do a short video "you can rec with the snapchat app and just download to your phone and from there upload to youtube" (very low file memory)

what type of servos you used? what are the specs?

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