Dog Quadruped Robot


Cheap Parts Makes quadruped robot Weak

for 2 years I’ve wanted to, but chickened out of, build a quadruped robot with foot ‘pressure’ sensors. With cost and time as excuses for not.

Dog Quadruped Robot

But with the very cheap 8g servos and the good-looks and convenience of the spider controller I felt I had no excuses left and had better get on with it.

Should stress here that I have no expectation of success, but do feel the need to get it out of my system and put the idea to rest one way or another.

Have gone for the simplest build I could think of for a 12 servo quad and tried not to use anything other than stuff i had laying around. ( except for the servos and board of course).

Dog Quadruped Robot

 

 Working hard on the design of quadruped robot body and legs

From blank sheet of paper to the finished physical build took around 42 hours spread over about 3 weeks of evenings and weekends.

Dog Quadruped Robot

 

 Some quadruped robot Pictures

Dog Quadruped Robot

the other 3 only half the time once i knew what i was doing (kind of)

Dog Quadruped Robot

the final version of the very crude foot sensor, just took everything except the pot + the gears on the pot shaft out of a servo and used that. It seemed an easy way to mount a tiny pot.

Dog Quadruped Robot

 

Finally added a little sub-board to the controller, with some simple filtering for the foot pots and a genral purpose 10k preset to help with the calibration and debugging. The more I look at this thing the more flaws I see in it and the less likely it will ever walk at all. But fingers crossed I will get on with the programming and post vids if anything does happen.

Dog Quadruped Robot

Dog Quadruped Robot

And the quadruped robot is walking, finally and slowly

At last got enough code together to get a painfully slow actively balancing crawl to work, but must be able to do better than this ? Servos holding up OK so far, but bought some spares as they seem to be pretty much at their limit. Still if they weren’t as cheap as they are, I couldn’t have even attempted this bot, they are amazing good for the price.Next couple of weeks will try to get the walk easier and then turning left right. Beginning to think that solving one will solve the other.

[original post from http://letsmakerobots.com/node/29925]

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