Experimental quadruped robot with 3 jointed legs

thingiverse

This was the first prototype of a basic quadruped robot with three jointed legs, standing about 40cm high. It was engineered for Power HD 1501MG Hi Torque Servos (17kg/cm), although it's worth noting that the torque-to-weight ratio isn't sufficient to support bounding or running movements, and these servos are indeed underpowered for this specific application. In order to walk, one leg had to be moved slowly forward at a time while simultaneously shifting weight (rotating the hips) on the other three legs, resulting in stumbling and shuffling before ultimately collapsing. The main goal was to experiment with the mechanics of four-legged walking using affordable servos prior to embarking on a more complex project that would require higher-priced components. Unfortunately, this model is unable to support even the weight of a battery. There's an upgraded version featuring geared joints available here: http://www.thingiverse.com/thing:652121 This new design is still experimental but exhibits greater promise. You'll need to acquire screws and rubber foot pads in addition to a 100mm RC car shock absorber/spring to complete the project, as outlined in the instructions. For power, I'm using a laboratory power supply set at 7.2V and this device draws peaks of ~4-5A.