Hybrid hexapod with ground contact switches (video)

Lynxmotion Legged Robots
1

Here is a video of the prototype I have been fooling with. It’s a cross between the CH3-R and the Phoenix. It’s smaller than the CH3-R, but larger and stronger than the Phoenix. This bot is using all HS-475 servos. The video was just to show how well the 475 servos worked as well as testing the overall robustness of the ground contact switch setup in the tibia’s. It works the best with the tripod gait. Feedback…

youtube.com/watch?v=y0vTcJqL1XM

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Looks great!

Are you going to start selling the new body parts?

I think a lot of people would like the idea of being able to use 475s instead of the 645 as it would save almost $400. I also assume you could use the other leg styles as well.

Kurt

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i like the hybrid. very cool.
will you be upgrading the servos to 645’s? or do you feel happier enough with the 475’s?

the 645’s would really beef it up!

cant wait for the ground contact switch vid, as im hoping you will show the true reason why you did it in the first place.

the tripod, in my experience its the most stable and quickest. i can see why you say this.

i hope we see the feedback from the sensors soon!

well done and very nice. 8)

4

Thanks Kurt!

You betcha! I’ll be offering several new mid sized body kits that I’ve been working on. This is using Xan’s code. I think there may need to be some adjustment in order to use the normal SES 3DOF legs as they don’t have as much range as the Phoenix (or this new leg style) allows. I have several new 3DOF leg kits in the works as well. 8)

5

Hi Jim,

The Hybrid looks awesome!

It has got some good pros:

  • stronger then the phoenix
  • stock pressure contact sensors
  • cheaper because it uses HS-475 (good for beginners)

I think it’s a good idea that you’re going to sell it. I think the code needs some more fine-tuning to get it perfectly smooth 8)

Xan

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Hi,

Looking good Jim. Are you going to use aluminium for the body parts?

Xan mentioned the pros.

I also feel there are some fine-tuning left for the code.

Anyway, it was great to see it walk. Awesome! 8)

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A CH3-R kit is for me on the way with al HS-475 servo’s.

This video shows me that I can start off with the HS-475 servo’s and it works good and also has some nice movement speed.

I’m curious what more body designs are coming.

Can’t wait to start my own project.

8

The new parts will begin as laser cut lexan, but they will be changed to aluminum as resources allow.