Tripods are coming ...

by Ablapo, published

Tripods are coming ... by Ablapo Mar 16, 2013
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Tripods are coming ... by Ablapo is licensed under the GNU - GPL license.

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With this triangle connector you can build a robot with three servo legs.

(A frame for quadrupeds is included, too.)

Can it walk? I don't know, yet! :-)
Do you have ideas of a good walking method for tripods?
And it's a three finger robot claw, too!

For more details on the legs:

Watch this video of its static durability:


For this tripod you will need 9 metal geared servo motors (~12g).
Assemble each leg. Then mount the legs on the center triangle part.
The provided leg parts are optimized for servo gears with a diameter of 4.8 mm. You have to melt the inner surface of printed part using a tiny flame, to mount it on the servo gear. The part should not fit on the servo without melting it. If your servo gear's dimensions are different (>0.05 mm), then create your own version from the ancestor scad files.

You can use the four M3 holes of the triangle to mount the "head" (not included).

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Nice concept, but for the "walking" part sadly I have to say no. At least with your current foot configuration. To be able to walk you have to move the centre of the gravity between three support points to stabilise the robot (three is the most stabile contact points when you are not using sensors thus no feedback). Since you have pointy feet and only three legs a walking motion is impossible, but like many others have pointed out hopping or dragging are viable options. But if you are to keep this three legged then is you add one joint to each leg and a wider paw and also make it walk with legs nearly straight down you might be able to artificially create the triangle of contact points.
Your stability video really proved that triangle is the best support shape sadly in it every leg counts for the balance. Other thing that came to mind is that your legs are quite far from the centre of the gravity. This even more improves its a balance but makes difficult to shift the weight to the two legs since they are quite far from the optimal position.
Otherwise your approach to the problem of using feather servos as a supporting structure is splendid… and I really like the looks of it. There is just something that reminds me of some anime and game robots which for me is always a bonus. I'm really interested what kind of motions you'll come up and I wish you a great success in your endeavours!

I love your minimalistic design! Inspiring.

Thank you. If you are interested in design and minimalism, then search for "Claus Mattheck". He is a master of the bionic static optimization.

Wow thanks, he has some pretty cool concepts.

it will have to step quickly. You will probably have more luck going straight if it lunges/hops forward off the single back leg and lands/catches itself on the front two. It's going to have to hop like a frog or rabbit. The other option is to put wide feet on each leg so that standing on two legs will offer more stability like a cane with more than one foot.

I was thinking about an additional balancing weight ring on top of the robot. That could help to shift the weight to one side and decrease the falling time of the robot when one leg is lifted.

If you can shift the weight mostly onto two legs you may be able to slide the third leg. Otherwise walking on three legs will have to be very dynamic, like galloping.