RC-servo robot walk

I made 12 DOF quadrupter 5 years ago.
It controlled by SH2-7145F(main-cpu) and PIC16F873(sub-cpu).
Used servo are S9602(swing direction) and S3102(support direction).
Body is made of C-FRP,so very light,total weight 1200g,and legs can be moved pleasurable fast.
It has 6 PSD-sensor, foot-SW in each legs,and 3-axis acceleration sensor.

Category:

Science & Technology

Tags:

• メカニクス
• ガジェット
• エレクトロニクス

[psxdever]

whats the length & width of the chassis ?

[moyane11]

The chassis size is abut 130mm*240mm*30mm.

It's made of  t=1.0mm C-FRP plates.

This structure has some reinforcing plate in the box,so It's very storong to twists and bend.

[MacBookGenious]

yo, this has to be the collest servo robot i have seen so far, i would love to learn how to make one, but im working on a robotic tank for espionage how do you bind the motor, can you help me please...

[moyane11]

Hello! I'm moyane in Japan!

Futaba S9602 has 4P side tab, so easy to attach serial.(Pls see video.)

Try to make no clearance between servo horn and servo jointed parts,that's the key to keep good rigidity and it's difficult to strain and break.

[toofastfgbx]

thats my sort of dog!

[25380421859]

wow soo cool

[geeklord09]

I feel so pathetic with my two hobby servo differential drive wheeled whatever robot after seeing this. Oh, well. I'm 14, and have only read stuff on the internet. Great job, one of my favorite bots out there.

[dragonblue004]

its coolllllllllllllllllllllllllll­llllllllllllllllllllllll, man. can u plz explain me clearly. I was also thinking to do such thing, can u help me plzzzzzzzzzz. if u don't mind>>>>>>>can u tell how did u got the stuf to make it................. plzzzzzzzzzzz thank u.......... urs is really cool.

[moyane11]

Hi! thank you for your comment!

There are two reasons why I chose this configuration.

One is to keep low the power of support self-weight.

2-Z-axis needs no load(in horizontal attitude),

and 1 horizontal axis is taken low load with

leg-extended position(That's very useful characteristics of a parallel link!)

Two is,reverse kinematics easily calculated.

When searching for the optimum trajectory,this brings the dramatic effect of computational complexity reduction.

[jscook55]

Wow, very nice. I'd love to see a close-up of the leg mechanism.

[SuperMarioRiff]

Awesome work. The one thing that I find odd about it though is the way it walks across the ground. It is like some kind of monster that will kill u in the middle of the night! But seriously, great robot.

[Tomadevil]

nice job :)