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Thread: A review of low-DOF biped walkers

  1. A review of low-DOF biped walkers

    Merry Christmas, everyone!

    I wrote up a review of biped designs that use very few degrees of freedom (i.e. servos). I thought it would be of interest to you all here, and since I know there are people who don't yet follow my blog , I thought I'd point it out. You can read it here:

    Bipeds on a Budget (at BotScene.net)

    Happy holidays,
    - Joe
    Check out BotScene.net for the latest news, reviews, & commentary on humanoid robotics!

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    Re: A review of low-DOF biped walkers

    There's another approach using 3 servos... Its classification can be a bit arguable, depending on how the feet are done. It's kind of cheating like the one-servo approach you mention, but it can turn, and walk far faster than anything else in your article
    http://www.youtube.com/watch?v=dgpfMsubCYc
    http://forums.trossenrobotics.com/sh...-Hexapod/page3
    http://forums.trossenrobotics.com/sh...e-servo-walker

    Enjoyed the article, though! The Klann linkage is neat...

  3. Re: A review of low-DOF biped walkers

    Oh yeah, if you go to more legs than two, a whole lot more designs open up. There's a really neat tripod (yes, three-legged!) design in this paper. But I was only reviewing biped designs this time. Great work on Twitch, by the way!
    Check out BotScene.net for the latest news, reviews, & commentary on humanoid robotics!

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    Re: A review of low-DOF biped walkers

    Twitch is technically a bi-something, though, as I can connect the points of contact into two feet (One configuration is a very large 3 and a v, i.e. literally <3 ). You could also make it four-footed... it's a weird one.

    I stumbled upon another triped earlier today, as well: http://www.youtube.com/watch?v=j4JYE...FQG-AzonIzCgZg
    (I was going to check that triped you linked, but the site has been down for the last several hours..)

  5. #5

    Re: A review of low-DOF biped walkers

    The article says that three-servo bipeds are uncommon, but I actually think they're the best trade-off for small servo counts.

    You use one servo to lift alternate feet, and one servo each to pivot each foot. This allows the robot to walk (by turning in counter-phase to each other) or turn (by turning the feet in phase with each other.)

    Twitch is one such design. Another one, which uses a different (sliding) linkage for the center servo, is the "Little Walker" that I posted a sketch of here:
    http://www.youtube.com/watch?v=vDbLaV2X70E

    I
    made a bigger version in aluminum, but then ran into a problem where the servo splines see too much sideways torque, and to solve that I need a pretty complex cradle/thrust bearing setup. At the same time, the CNC mill I'd been using blew up (still not fixed!) and the motherboard of my rover also blew up (bad time, that,) and my focus shifted to a more tranditional walker... (Although the rover is being rehabilitated -- this post is made from the replacement motherboard!)

    You could say that "dead duck walking" is similar to both Twitch and LW, although I think they are each different, because they use different linkages and methods of balance.
    Last edited by jwatte; 12-26-2012 at 10:03 PM.

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