Biped DOFs?

Lynxmotion Legged Robots
1

The BRAT is 3 DOFs per leg, and the Scout 6 DOFs. I always wondered is there any reason a 4 or 5 DOF would not work well? If I start with a Scout, which joint would anyone remove? And would it be difficult to sequence out that motion?

Seems to me if you can remove one DOF from a Scout, you can save a 100 bucks on servos.

Frank

2

hi. you might find some interesting ideas here. though out this thread i have posted different legs for the scout.
viewtopic.php?f=7&t=5839

some areas of the thread talk about 5dof and i think 4 too.

hope this helps.