This is a quadruped Robot with three servos per leg. It is controlled by an arduino pro mini, which uses inverse kinematics to maneuver the servos, so that the foot moves to the desired Position (x,y,z-coordinates).
The robot takes its energy from the fairly big lipo in the back (I underestimated the size when ordering it :D ). The battery lifts the center of mass pretty high, but I use this to be able to shift the weight on three legs, so that the other one can move freely. There are also two big capacitors in the front, which buffer the current for the servos. Also they counter balance the lipo a bit.
To take stress from the servos when standing or for testing, I made a simple stand out of wood. The robot is attached to it via a 3*3 pin header and sockets.
12/19/2015 at 11:29 •
I implemented a simple walking pattern for my robot. It moves each leg forward and then shifts the body also forward. Currently the robot is only able to walk forward on a more or less straight line, but it will get more features soon.
View project log
Enjoy this project?