UPDATED LEG FOR QUADRUPEDAL ROBOT DESIGN 583173

thingiverse

The joints in the initial design for http://www.thingiverse.com/thing:583173 were woefully inadequate. This experimental revision incorporates geared joints (1:5) and an alternate foot design offering more clearance but retains the same servos for now (see comments below). Please note that this is purely experimental; will it have sufficient power to walk correctly? A video showcasing one geared leg working in conjunction with the new foot and gears can be viewed here: http://youtu.be/OPC-5zBJOzA Conversely, a demonstration of the original design is provided here: http://youtu.be/U1ksRvyDFrg The current demonstration serves as proof of concept. The articulation can be divided into more discrete steps to ensure smoother movement later on. What you see in the video of the new foot represents a simplified implementation based on the following code: void setup() { myservo_hip.attach(2); myservo_knee.attach(3); } void loop () { // HIP 90 = VERTICAL, 0=FWD, 180 = BACK // KNEE 0 = VERTICAL, 160 = BACK // HIP SERVO = D1501MG // KNEE SERVO = DSS-M15S straighten myservo_hip.write(0); myservo_knee.write(30); delay(syn0.5); strike back myservo_hip.write(70); myservo_knee.write(0); delay(syn); myservo_hip.write(150); myservo_knee.write(0); delay(syn); myservo_hip.write(180); myservo_knee.write(150); delay(syn); strike forward myservo_hip.write(0); myservo_knee.write(160); delay(syn1.2);} The design is in its experimental stages, as I'm still seeking the ideal balance between gearing and speed. Constructing a complete set of parts to facilitate experimentation is an ongoing task. I haven't fully assembled the robot yet, leaving open the possibility that it might still be underpowered. For those looking to create their own 4-legged robot, all necessary components - including Rhino files - have been included in this design for potential modifications and upgrades.