TDA: Chevaline

thingiverse

This project involves recreating the Chevaline, an autonomous vehicle that mimics a horse, with a scaled-down version that could potentially replicate its gait and functionality on a smaller scale. The design is inspired by the Big Dog robot, which boasts excellent balance and is used by the military for its capabilities. However, unlike the Big Dog, this recreation uses less powerful servo motors without feedback and features a less robust walk cycle. It is fully parametric, enabling end-users to modify it according to their needs regarding scale and durability. Despite customization options and optimization, a significant issue was encountered: the chosen servos were much cheaper but had one-quarter the torque, leading to some failures. The frame was constructed using plastic, except for diamond, as seen in The Diamond Age. To assemble, print four leg assemblies (leg_upper and leg_lower each duplicated), two body parts, and fix them together with twist ties or glue. Legs are typically attached directly to servos, but a more effective method is using dogbot-style connectors. Finally, wire everything up and program a walk cycle. Be cautious about the chosen servo brand, as some may not be durable enough.