Some pix of the parts for the new (longer) feet.
http://www.marconettengineering.com/LokiLegSet2b.jpg
Layout on paper:
http://www.marconettengineering.com/LokiLegSet4b.jpg
A template used to make the center holes on walter:
http://www.marconettengineering.com/WalterTemplate1b.jpg
Loki now walks with it’s own gait. Sensors have been added, and a BlueTooth link for telemetry. More pix to follow.
Alan KM6VV
This might make a good intermediate robot kit… 
I am thinking, pair Loki with the new SSC-NG board that is being developed and program it in C.
Very nice work, Alan! I wouldn’t have expected less after seeing the great work you did on the new decks for W.A.L.T.E.R. 
8-Dale
Thanks, That’s kinda what I was thinking. I’ve already laid out another “body” (the flat PCB sheet that holds the top two servos and the controller PCB) to take a Dontronics DT106 board, although an ABB board or your SSC-NG board would also fit. These boards are not as wide, and thus I can re-use the 1st set of feet I made with a new “slimmer” body (the feet have to “cross” to be able to swing the body up).
Who’s interested?
Alan KM6VV
I don’t know. I am interested in the whole kitting idea though. I have some ideas of my own.
8-Dale
Posting some general dimentions would be of interest for making the parts from plywood (although a CIA type should get pretty close looking at the pix). I went by Lowes this afternoon and sheets of the 5.2mm Luan plywood are still pretty inexpensive. 2’x2’ sheet for $2.20, 2’x4’ for $3.99. A coping saw to cut the pieces is $7.99.
The parts should not be too hard to cut out. I have generated JPG files from my cad drawings. One should be able to print them out full size, adjusting the scale until the dimensions are accurate. Then they should be able to attach the prints to the wood or PCB stock, and cut them out.
Of course, it’s not necessary to make the parts exactly correct. I actually drew my parts from viewing pictures of David Buckley’s original Loki. I got the basic sizes of the feet, the width, and the height of Loki. I worked from there to design my own parts.
Loki Body:
http://www.marconettengineering.com/LokiBody2.jpg
Loki Foot parts:
http://www.marconettengineering.com/LokiFeet.jpg
There are tabs and notches that fit together. Most of the larger holes are for appearance, and not needed.
HS-475 servos should be used for the knee servos, smaller ones will work for the hips.
Loki will be seen to be about 6.5" wide, 5" high, and a little over 5" deep. The feet come out to about 5" deep, and 4" wide.
Loki with ultrasonic an IR sensors, BlueTooth:
Loki updated, added sensors on a pair of 2nd deck plates:
http://www.marconettengineering.com/LokiUpdate3b.jpg
Loki updated, the Bluetooth antenna makes a tail!:
http://www.marconettengineering.com/LokiUpdate5b.jpg
Note: Battery goes below the controller PCB, and is not installed.
Additional questions, just ask!
Alan KM6VV
Here’s an interesting article on using the Sherline CNC mill to cut robot parts.
botmag.com/articles/sherline.shtml
I’ve got to get busy!
Alan KM6VV
An update to Loki’s story. I received this email on the HBRC list:
Thanks for breaking the news Wayne!
Alan KM6VV
Congratz Alan!
Front page! 8)
(Sorry for missing some of your posts, I have not paid attention to the Biped section 
)
Your Loki looks awesome, very nice work!
It would be cool to see Loki walk. With its wider feet you have solved the balance issue
Ahh, I wish I had a CNC machine… Your custom parts looks great. Smart move to use PCB and soldering the parts together.
Hi KÃ¥re,
Thanks! I need to get some video’s made. I don’t think too many others are reading the Biped section either.
CNC IS great for for these projects. I am pleased that the PCB stock worked so well. I may use it in the next project.
And now I’ve got some funding for my next project!
Alan KM6VV
Congratulations to LOKI for making it to the front cover of SERVO magazine.
You guys are unbelievable.
Thanks!
It was really a pleasant surprise.
Alan KM6VV
Congrats! the quality of work deserves front page. Great job on this project.
Quick question: what cad program did you use to design the brackets?
Hi Mike,
Thanks! I do think it came out pretty good.
I use Vector CAD/CAM to develop the parts and create the tool paths (Gcode). I was then able to cut the parts out of both PCB stock and aluminum sheet with my CNC’d Sherline mill and a small (1/16â€
When I first saw that article I though, havn’t I seen that robot somewhere?
Then I realized it was YOUR Loki.
Congrats
Congratulations, Alan! You are certainly starting to get around! Good job!
I’m designing a small fleet of RSRs (Really Small Robots) for use in Swarm Robotics. These are all under 5" x 5" in size. All of the current RSRs are 2WD or 4WD rovers. The bodies are two pieces each.
Interested?
8-Dale
Sounds like Servo magazine has hit the streets. Thanks for the complements guys!
Alan KM6VV
Hello all,
I’m new to robotic and I’ve just joined this forum after seeing Loki creator here. Kudos to Alan for coming up with a simple beginner robot… I’ve make a clone of Loki… it’s walking… with DIY servo controller, PC-based Loki trainer and so on… I’ve also captured a video of Loki walking…
More detail at my blog www 9w2bsr com (just add the dots…)
I cannot put the link here as this is my first post… 
Cheers,
73 de 9w2bsr
Hey! Great job!
I’ve been wanting to post the video of my Loki. Got the video camera now, but still haven’t gotten it done.
And welcome to the Lynxmotion list!
73s
Alan KM6VV
Loki on the cover of Servo Magazine (June 2008)
http://www.servomagazine.com/images/covers/mini/62.jpg
Alan KM6VV
