Force Sensing

A project log for µKubik quadruped robot

Cheap and simple tabletop quadruped robot controlled with Python.

deʃhipudeʃhipu 04/17/2015 at 17:280 Comments

After showing the robots at, I had some great conversations about all the possible ways I could improve them. One particularly nice idea is to connect some extra wires to the servo pots, and by measuring the voltage on them get some idea about their actual positions and (indirectly) the force being applied to them. To do it with all 12 servos, I would need 12 analog input pins, though. I can think about several possibilities:

I think I will start with the last option, mostly because that doesn't require changing much and it will let me see how well this actually works. Then I can try one of the other options if needed.