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View Full Version : Prototype Mini Biped



Quantum
06-04-2009, 02:05 AM
I have been busy prototyping this guy together just finished him up tonight. Its made from 6061 aluminum that is either .032 & .04 thick and used HS-55 servo. Each leg weights ~2oz. I started centering servos and started tweaking software for a IK or at least a partial IK program. We'll see how the servos hold up. Ill post some video of the first trials.

Pics Below

xx2747
06-04-2009, 07:29 PM
Very cool biped! I was thinking of building a mini biped with HS 55s but was too afraid they would give out. Are they working fine?

tom_chang79
06-07-2009, 04:41 PM
That is snazzy! Great work... Keep us updated!

Quantum
07-27-2009, 09:15 AM
Some updates on this biped. It could stand and barely walk but its just a little to much for the servos. If it were to fall over it wouldnt be able to get up. It could only walk be talking tiny steps and even then I really didnt consider it walking more like schuffling along.

I really built these legs for a quad. It just looked cool as a biped.

darkback2
07-27-2009, 09:20 AM
Your biped is really cool Quantum...

If you want to stick with it, I think you can get better performance by making the legs shorter. A couple places where you could do that is by stacking the two knee servos...or eliminating one of them. Maybe you could save weight other places?

DB

Quantum
07-27-2009, 09:40 AM
Some redesigning is needed. I still want to stick with these servos because of the cost. But I think its probably not worth the effort.

DresnerRobotics
07-27-2009, 12:29 PM
Bigger feet are going to help out a lot. Small feet like this require near-perfect IK with full IMU feedback.