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Alternative leg design

A project log for Quadruped Robot

A quadruped robot using cheap servos closed-loop control and force-sensing resistors for ground force feedback. Uses Teensy and PCT.

YannisYannis 07/18/2018 at 23:115 Comments

I just finished modeling an alternative leg design with motors mounted at root. This should allow for faster leg response, although the overall width of the design increases due to the placement of the servos. Will print and test tomorrow.

Discussions

Yannis wrote 07/19/2018 at 13:00 point

Thanks for the comments! I'm currently printing the parts to have this tested. @davedarko do you have your design public somewhere? I'd love to take a look. Also looking forward to seeing your idea. Will post back on this one.

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davedarko wrote 07/19/2018 at 17:30 point

seems I was a bit sloppy with the documentation and all... here's the project: https://hackaday.io/project/29187-4-legged-robot

and here's the latest version, "only" have it on video https://youtu.be/_zLsArh_GZ0?t=7m57s

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Yannis wrote 07/20/2018 at 16:10 point

Great thanks for the links! I've posted a new project log with the printed design. It's like a scissor mechanism. Seems to be woriking well so far, we'll see.

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de∫hipu wrote 07/18/2018 at 23:15 point

I think @davedarko tried something similar recently, and the problem is that very small differences in the movements of servos translate to large movement of the legs, which means that you lose precision and strength. I think in his case there was one position where the play in the servo gears was enough to move the legs freely a couple of centimeters.

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davedarko wrote 07/19/2018 at 09:05 point

yep! this exactly. hope you're having more luck with this though! I have another idea on how to use servos a bit more efficiently as well.

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