Hello Everyone,
Just wanted to say hi to the group and show my first robot. It doesn.t do much just walks straight. The design
goal was to build a 4 legged walker that doesn.t collapse and able to walk by shifting its CG. I.ve built my own
servo controller using an Atmega168, servo signals are currently sent from a PC over RS232. The steps are
pre-programmed and the robot doesn.t have any feedback. I.m designing an enclosure with a button for FSR sensors
which I will add to the legs. The idea is to provide feedback when the leg touches the ground. An accelerometer
will measure the tilt and adjust the legs accordingly. I started to program an AVR32 (I.m very impressed with the
Linux SDK) to evaluate all the data. The current walker design has some major flaws. Futaba S3114 servos are too
week and for smoother walking I.d need to add 4 more servos to move the lower arms. But for now I.ll use the
robot I have to gain more experience with FSRs and the accelerometer before I start redesigning the whole thing.
[youtube=425,350]Bi_3rhX9WoQ[/youtube]
Pictures:
http://nagycnc.com/joomla/index.php?option=com_content&task=blogsection&id=9&Itemid=41Thanks,
James
Vancouver, BC