Charles GalambosWith a new larger motors and a more rigid design, this video shows it standing up and squatting down under its own power. The legs are still a little springy, but it should be possible to compensate for this in software.
With a new larger motors and a more rigid design, this video shows it standing up and squatting down under its own power. The legs are still a little springy, but it should be possible to compensate for this in software.
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The gear boxes are 3D printed, planetary gear boxes with a reduction ratio 21:1. The idea is to keep the ratio low so they can be back driven and you can control the dynamics in software. The lower legs also are designed to have some spring in them to protect the gears and bearing from mechanical shocks. This is working well, but the downside is it makes control more complicated, as you have to allow for some give in the legs. Resisting twisting of the legs has been a particular problem so far, but the new slightly shorter legs seem much better. We're currently setting up a test rig to get a better grip on how the legs behave in various positions so we can include it in the simulations.
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Great to see such progress! Can you talk more about the gearboxes you are using for the legs and about the mechanical design in general?
Are you sure? yes | no