I haven’t been in favor of the bipeds I’ve seen until now. Recent comments about using mirco-servos and finding this link on Loki got me to thinking.
How about Loki built as a micro-walker? David Buckley’s version uses standard sized servos, with a body about 6.25" x 6.75" x 5.25" and weighing in at 22.5oz, but I’d like to see one designed for the mini-servos.
I was just playing around with the design if the feet, which along with the short, stout posture I find hilarious! Makes me want to build this biped! I designed the feet, and some of the brackets needed, and came to the conclusion that with the dimensions David supplied and the servos used, I’d have a body that was over 6" wide; big enough for my standard “Quick Flash” PCB.
I toyed with using SES brackets, which could work. But I want those FEET!
Anyone interested? I don’t know if this project is “on” for me or not yet. I tend to get distracted into interesting side-projects like this.
Basicly, you just want the feet right? There really cool!!
Because there’s this biped that looks a lot like it (theres only so much you can do with 4 serovs ) : lynxmotion.net/viewtopic.php?t=934
I was not really interested in bipedal walkers either, but then I got to asking myself “Would multipod style legs work for a biped?” and that is where the design of The BiPod started. Loki looks so cute! He makes me want to build one too!
Hmmm, a micro-sized Loki… I like that idea! He would be even cuter in a micro size.
My LPC2148 proto board would fit him too then! I would love to see your designs for the mico-Loki.
He would not be Loki without those feet…
Yes! A micro-Loki would make a great and very interesting show bot. I could use him when I do my “Gadget Time with Dale” sessions at a nearby rehabilitation/nursing and recovery center. I think a micro-Loki would be more interesting to show than any other bipedal robot, except of course for The BiPod.
Wow! Again I wish I had a CNC milling machine…
Smart thing to use PCB boards, easy to soft solder them together! Maybe you can integrate some electronics on the boards too
Yes! And I had already been thinking about that (another thread), although not intending to start on a quadrapod project at this time. A pair of lovely examples of nature! Any of man’s attempts to copy pale by comparison.
This cat project would have a different arrangement of legs, not the “insect” configurations we’re using here, but “inline” to the body.
But just TRY to get them to hold still for study! They seem more interested in exploring the boxes and stacks of equipment that clutter up my office/ “upstairs shop”.
Control is by a PIC18F4620 on a “quick flash” board. No code running yet, no videos!
Dimensions are about 6" high, 6" wide, and 5" deep. Weight 12 oz without the batteries, which add an additional 3 oz. Servos are currently Futaba S3004, although Hitec HS-475HB will probably be needed in the knees.
Hi Alan!
Great work! You are working fast!
But are you sure your feet are wide enough? I’m thinking of center of gravity (CG) when one leg is lifted. If you look at the original Loki: http://i214.photobucket.com/albums/cc6/ZentaOlbaid/Loki_2003_0414_014919AAbwm.jpg
It seems like its feet are a bit wider, or the body is a bit smaller? Loki’s feet have a little overlapping.
Hopefully you got it under control!
I’m just thinking…
Maybe the other leg would help lifting the body until the CG is over the first leg/foot?
Are you gonna place the battery under or over the electronics?
Thanks for the kind words! I think you are correct, I moved the two servos out just a little to allow my 4" controller board to nest in between, and neglected to change the length of the feet. It’s not off much (I was going by the photo, anyway), hopefully he won’t be unbalanced!
Yes, I think it relies on shifting the CG over by lifting the body at a somewhat ridiculous angle. Part of his charm!
I haven’t decided on the batteries. Probably underneath, on centerline.
I propose it as a new SES bracket, I didn’t see anything similar on the LM website. It’s fairly simple, I milled out 4 of them, then bent them on a small desk brake. Not hard at all! I offer it’s simple design to LM.
Well, I managed to get two servos connected, and tried moving the body. The servos are strong enough (without the batteries), but, as you guessed, the feet appear shorter. It’s because the two pairs of servos are spaced just a little further apart! 5.5" instead of about 5.125". But it’s enough to cause the CG to be past the end of the toe! And this means, I just can’t quite rock the body up as I need to. ;>(
Looks like I’ll have to modify the body a little, I can move the servos in and up against the PCB. I think that’ll be enough. If that is not enough, it’s the feet I’ll have to redesign.
I accept your generous offer. It does look like an interesting and useful part. It’s like an ASB-04 and an ASB-06 combined. It will be cheaper too. I think 0.09" thick material is waranted though.
0.09" stock could be a good idea, especially with heavier loads. I made mine out of 0.062" unknown aluminum stock salvaged from an equipment cover. Came black anodized!
I’ll send a drawing, although it’s so simple it hardly needs one.
) :
I would love to see your designs for the mico-Loki.
