those servos look to be too big. 
iv not attempted walking yet. but i am also trying to work on the realtime code at the same time. I need help with programming the Gait and IK equations. i cannot find any info on 6dof equations!
i havent yet ordered the parts for the redesign yet as im looking for feedback before i spend.
you must start a thead, would be interesting to see what you have. and to see your progress.
have you started programming yet?
thanks for your comments.
Jonny - UK
Hmmm my bad about the servos… Those i linked to are much higher than the ones i use, that already are to big to fit the SES’s… 
Would be nice to get a free set of 5990 Hitec bandits… 
amen. 
What do you think of my scout… ?? 8) i actually just modified it in the last 1 hour… It’s now 5DOF and walks now…
The 5DOF setup looks a little like the idea you had earlier on the drawing board, so i can say that it works…!! 
Thinking of buying those parts you used on the model…
Much lighter for my servos to manage also…!!
You can find the pictures of the 5DOF Scout on my tread…
here we have the two leg designs. now side by side.
http://i531.photobucket.com/albums/dd355/innerbreed/scoutfoot.jpg http://i531.photobucket.com/albums/dd355/innerbreed/scoutfoot2.jpg
and a real photo of it using some older brushed brackets.
http://i531.photobucket.com/albums/dd355/innerbreed/100_1956.jpg
Hey…
Are those brackets from a hexapod model… ?
By the way, the video you requested is online youtube.com/watch?v=CizhMaYkU1g
What do you think… ?? it can walk faster if I just push the timing settings a little further…
nice vid. the gait works really well. the robots right ankle drops when half way thought step. was this intentional. its really good. well done. did you do it using sequencer?
yes the brackets are from my hexapod.
thanks. the program is a 3d modeling program called POSER7 its not a cad program but it does open up .obj files…
again thank you for your feedback.
For the less costly conversion for the scout i wish to purpose this idea:
http://i531.photobucket.com/albums/dd355/innerbreed/scoutfoot3.jpg
?
im just simply showing a configuration using the offset brackets.
yeah i realised you also have this in an .obj file, but just didnt download it. you get the idea, and we all know whats ment to be there.
anyway pointing that out has made me realize i meant to put it like this,** in full**
http://i531.photobucket.com/albums/dd355/innerbreed/scoutfoot3-2.jpg
this is the config ill use for this project.
OK hit one problem.
Jim i can confirm that the 645’s wont handle a walking gait “even with 5DoF”!
the ankle rotate servo struggles to keep the weight over while stepping.
lifting the leg is ok and swaying side to side works well. but no Go!
fortunately i haven’t burned out any servos but im curious to have a peek inside. 
I think an upgrade will be needed! 
Hey Jonny…
I’m about to buy some stronger servos… Do you have any idea of where the weakest links are on the Scout… ?? And how many stronger servos i will be needing… ?
I tried supplying 2S lipo power to one of my spare Power HD 1201MG servo… 
it worked 10sec… 8) Dead meat after that… :mrgreen:
it become obvious that once the cog has moved it will take its tole on the appending servo, but say it the scout is in a half crouched position the mail servos that will struggle are the **Knee **and Ankle. the more upright the scout the better the more forgiving it is. but then with this, it becomes top heavy!
so the lower servos of the leg will have to work the hardest.
The ankle rotate and **hip rotate **servos also work very hard while walking, having to hold the body over the center of the foot. you have to get the COG perfect otherwise it will fail the servo. especially in the ankle rotate.
you did a good job in mounting the SSC lower down and not entirely lifting the foot during step sequence was a good idea.
i configured mine for 5DOF and still the **Knee **and Ankle struggled. 
hope this helps.
Hmm okay… I will change all the 12 servos to 17kg/cm strength then… Hope to receive them in the middle of next week or so…
Have a nice weekend…!
To give a better idea of the kind of torque at some of the joints, imagine sticking a pencil through the center of the bracket where the servo shaft would normally be for the ankle servo, as an example, and then imagine trying to hold the entire weight of the bot with the center of gravity off to either side of the pencil. It would be difficult to hold that position steady. Strong servos should be used at joints with the highest COG offset.
Hex bots can get away with weaker servos because there are six legs holding the bot instead of only two. With bipeds, when taking a step, you now only have ONE leg holding the bot vs. 3 legs on a hex, assuming a tripod gate is used.
12? take it you going for 6DOF. thought you would only need 10. “5DOF”?
just another thought that could save you some money… you wouldnt need to replace them all.
i would think you would only need to replace the **red **ones:
In order from top to bottom.
Servo joints for 6dof
hipR
hipS
hip
knee
ankle
ankleR
Servo joints for 5dof
**hipR
hipS
hip
ankle
ankleR **
i hope to get it walking with 6dof as it is constructed that way
