Bi-Ped II Increment #1

General outline of hardware

The construction of the biped is very basic indeed. A limb is formed by a steel M4 thread of about 12 cm long. Aluminum L shape strips are attached to this thread to mount the servo motors. The joints are created using standard ball-joint elements. All servos are driving the limbs indirectly by a lever. Although this is not as good as an direct driven configuration, it is much simpler to experiment with.

 

Feet

The feet are constructed from Aluminum L strips and a 2mm plastic sheet as sole. Among the L strips and the plastic sheet 3 force sensors (force sensing resistors) are mounted, on each edge one. The non-linear resistor values are measured by a PIC and send to the main controller. The main controller linearises these values and uses the force-indicators as input for static balancing.

(To be continued)