Hey,
I got some Dynamixel XL-320 today, and some Ollo parts to go with it... not wanting to wait for the moment when I will need them (they are supposed to probably integrate in my MW bot, but there is a sizable amount of development needed before I can assemble them), I thew a little bot together just to have some fun and discover the XL-320 and the OpenCM-9.04.
Here is the result of an afternoon of just assembling stuff at random until it looked like something that could move.
Let's call this thing Glitch, it does not deserve much more
It's based on TicTac6 / Twitch / TwitchMX, with some minor variations to make it possible to build with the XL-320. The "straight" legs are made with the batteries, and very close together (they sometimes touch at the bottom) to keep the weight distribution as low and centered as possible.
To that effect, I also oriented the vertical servos to have their axes as close as possible to the center, to avoid big swings. (losing some range of motion in the process).
The other legs are made to account for the flex of the material, and can surprisingly keep the little thing kind of upright ^^
The wheel at the top is their as a counterweight for the OpenCM, plus it swigs left and right... probably actually useless, but fun.
Now, some coding should make it move.
I've tested the legs, they can easily support the weight, and despite the tremendous amount of play in... well, every joint, even fixed ones, it can lift one trio of leg completely from the ground and support itself on the others, as expected.
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