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Quantum
10-26-2010, 12:01 AM
Here's my attempt at a Biped. And using AX-12's. I'm starting this a little late.

Not much to talk about.

Just my starting point.

Replacing all plastic with Aluminum parts. Starting with the feet and working my way up.

I will post as things get done.

Quantum
10-26-2010, 12:02 AM
**Reserved** IK Software

Quantum
10-26-2010, 12:03 AM
Transmitter for this project.
http://forums.trossenrobotics.com/showthread.php?t=4596

Quantum
10-26-2010, 12:03 AM
Feet: 6061 .125 recessed cut of .08 Aluminum & Derlin .25 *Changing to .125 to cut wieght*
Waist: 6061 .032 Aluminum
Shin: 6061 .62 Aluminum
Thigh: 6061 .62 Alminum *with offset bend of 5mm*

xx2747
10-28-2010, 05:25 PM
that's a pretty cool design!
I never really liked the original bioloid humanoid design because it was too stumpy but this seems way better.
I hope those ax-12s will have enough torque with that added height

Quantum
11-20-2010, 02:55 PM
Just a little update. Not much to post at the moment but have finished the design and I will be shortening the legs just a little but not to much. I posted a pic of the new feet above. They are a little heavier but hope to make up for the added weight by shortening the legs. I know that this will increase torgue values as well. But I'll have to deal with it.

Ill be posting more pics of the brackets as well.

I did get the AX-12 working with a Propeller and have started writing some code. I got simple poses done no gaits or IK at the moment.

DresnerRobotics
11-20-2010, 03:05 PM
Color me jealous of those feet!

DresnerRobotics
11-24-2010, 01:43 PM
Tue 11/23/2010 2:30 AM
Zenta has just posted

Great custom parts! Looking forward to see more of it. Agree with Tyberius, those feet where just awesome.

Quantum
12-19-2010, 02:04 PM
Just posted more pics above. The shin, thigh, & waist. The weight savings is about 70 grams total in replacing the Bioloid parts with the aluminum parts. Its pretty solid no flexing except in the shin. I might put a spacer in there or make somekind of brace.

And there it has a much greater range of movement now.

darkback2
12-19-2010, 02:14 PM
Those are beautiful brackets. Do you get any flexing from the bends in the thigh?

Quantum
12-19-2010, 02:22 PM
None at all. That offset bend worked perfectly.

The shin however there's about a 16th of an inch. Some of this comes from the bioloid spacer which I'm replacing with derlin made spacers and the insert bushing. But a spacer about and inch down from the knee ax-12 should take of this aswell.

Quantum
01-29-2011, 02:32 PM
I changed the design of the feet. These new feet are made from a piece of .25 derlin. They are 10 grams heavier than stock bioloid feet.

They also allow me to use socket cap screws on the bottom with out them stick past the bottom of the foot.
In the second pic it looks like they are rough but that is just the tool path. They are nice and smooth.