Close

First single-leg gait test

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 08/19/2018 at 20:052 Comments

I tested the single leg assembly with a simple walking gait and the results are quite encouraging. As you can see in the video below, the leg assembly easily traverses flat terrain, and with a small change in gait it was possible to also negotiate basic obstacles to a sufficient degree.


As you will notice in the video I've replaced the hinge joints with elastic joints 3D printed in TPU. This gives a stiffer construction overall and also incorporates pre-loading in the elastic joints (in contrast to requiring an additional elastic band or spring).

At this point the design of the leg is nearing completion. Next I will be focusing on the design of the chassis, the electronics board and integration. Stay tuned!

Discussions

Yannis wrote 08/19/2018 at 21:28 point

Thanks! No 3rd degree planned for now, but I believe it will be an easy addition later on.

  Are you sure? yes | no

de∫hipu wrote 08/19/2018 at 20:10 point

Wow, this is starting to look really great. Will you have a third degree of freedom in the finished robot?

  Are you sure? yes | no