Modified Trossen PhantomX to four degrees of freedom. (2nd Pass)

Modified Trossen PhantomX to four degrees of freedom. (2nd Pass) (1 min 39 sec)

01-21-2013 at 02:28 AM
Uploaded by KevinO

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Here is a video of it walking and doing the body movements. I've tweaked the commander input code to add a "hula" function which is just a translate and rotate of the body mixed together. Tarsus angle is where I want it for this type of leg configuration. The coxa, femur and tibia are all within 80-90 millimeters with the addition of the F4 brackets, the tarsus with my foot pads comes in at a wopping 145 millimeters. Still way to long... though it is working. Anyway enjoy the video!

Phoenix code written by Jeroen Janssen and ported to C by Kurt Eckhardt. Modified by Kurt Eckhardt and Kåre Halvorsen.

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CAlbertson - 12-31-2013 06:23 PM

I've been wondering two things about about leg geometry. (1) is what do you get with four degrees of freedom? Do you really need 4DOF or is it just for a larger movement envelope. But you get that with longer links between the motors so I assume you use 4DOF for some other reason. If the purpose is better leg traction don't you need 5DOF to avoid foot rotations.

The other think (2) doesn't apply here, I was thinking about canting the coxa angles downward by moving the first servo y-axis off vertical to about 30 degrees.

I am wiring on a hexapod simulator in Java and building just one leg to run on a test jig so as to measure leg performance before committing to a design. I expect my 'pod to eventually run ROS

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