Society of Robots - Robot Forum
Electronics => Electronics => Topic started by: vipulan12 on August 22, 2013, 03:07:45 PM
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hey guys, i have just made a simple,(cheaply made) biped robot with 4 servos and the arduino, it runs on 4 AA batteries in series 6 volts approx
after building it and programming it to walk , the robot tends to fall very often
the moment one leg moves it falls in its direction
of course to solve this i could either make the feet of the robot wider
or add another servo and an accelerometer to shift its weight to compensate for the movement of weight
but are there any other solutions?
thanks
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Other option would be to have more joints in legs, 2 for hip, 1 for knee and 2 for ankle, which results in 5 servos per leg. Having that would help You to shift robot weight from one leg to the other while stepping.
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Other options:
-Make the feet bitter, typically using "C" style feet that interlock with each other.
-Use a statically stable walking gait, where the center-of-gravity is never outside of the area-of-support.
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what do mean by stable "gait"?
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The "gait" is the movements that make the robot walk.
A "statically stable gait" uses enough foot contact at all times such that the robot center of mass is always within the ground contact polygon of the feet.
For example, two "C" style brackets that interlock can easily provide this. See my Little Walker robot for an example (http://www.youtube.com/watch?v=vDbLaV2X70E#ws) of such a foot arrangement (it walks with a total of 3 servos.)