Hello,
I’m terribly sorry if this question has been answered, and if so please point me in the right direction.
I was wondering if there was a better-than-stock leg design for the scout biped. Also is there a benefit in using the load bearing springs, if so what is a better spring to use, and how do i attach them?
I was looking at the Iron Vulture and Archer projects and saw the leg designs there. Are these a good path to follow? Are there even better options? I want to make the Scout as light and nimble as possible, while retaining its very large presence. Currently i just have a stock leg design, and was just wondering if i could improve on it.
Any help is appreciated.
-Quinn
Thank you for your reply, again i see many of the designs include load balancing springs. My guess, and correct me if I’m wrong, is to lessen the amount of mechanical wobble caused by play in the joints. Am i completely wrong?
Also, i was looking at the biped Lynx 209 hub. Would there be any advantages/disadvantages in using the 209 hub?
Dependent on how you want it to walk will depend on how many DOF you want. the design between these DOF wont really have any mechanical advantage. its all cosmetic really, but a good design layout is always nice.
The springs were added as i couldn’t afford higher torque servos. 
The model shown has HS-645MG servo.
Although it could stand up by its self (un-powered) on their own 'they wouldn’t be good enough to make it walk.
But you would be correct in thinking it will help with the wobble.
Although you will need to be careful as sometimes by adding springs you do exhort additional pressure to the servos and this can wear them down also.
Regarding the Hub,
I wouldn’t think it will make any difference.
but i would remain aware that not many scouts have walked and there is not much in as far as workable code for this type of robot.
Enless you have this sorted already? 
Balance is your worst enemy!
I took just about my entire robotic workshop (man was that a security nightmare) over to France for a month to see my uncle. He is a retired chemical engineer who deals with a lot of C code. He taught me a few tricks, and i think it is fair to say i am well on track to having a fully working scout. The code is written in the Arduino language, I only had an Arduino Mega ADK, and a BS2 to use. (The BS2 only had 24 bytes of RAM, and again was a nightmare for larger projects). I have two Uno’s as well, but were being used in other projects.
ANNNYWAAY…
The code utilized two inverse kinematic algorithms that my uncle helped me write (i am 16). I came back to the US and continued on what we had established. It had multiple subroutines that dealt with different settings, and i almost have it to where you can set step height, length, and cutoffs. (some numbers still have to be run through an excel program i wrote)
The robot, if the pictures come out okay, is suspended by what i have dubbed “The Gallows” it is attached to a mount that slides along the top tracks. The battery packs are still separated, and i found it easier to just use 4 double a’s. then have to constantly be recharging my battery packs.
The robot can take steps, shift its weight, and is pretty well balanced. I also changed the ankle design following photos from the Zenta ARCher. I havent really had time to play with the settings lately as i start school very soon, but i did throw him on the ground today and results were promising. I still need to spend a couple days, that i don’t have, tweaking the code, but i wanted to find an optimal leg design before i started putting the finishing touches on…
I’m looking for a striking image, with the best possible flexibility.
I am using HS5645-MG’s on all of the joints in the SCOUT.
Also a name is still needed for the money-hogging beast
Anyway, reviews and suggestions are appreciated.
-Quinn
Everything you have shown here looks very well thought out and implemented. Good job!
My only criticism is the use of the AA batteries and plastic holder. I would ditch them asap, as it will become an issue when the robot is off the holder. You don’t want to mistake power problems for code problems.
I am going to ditch the battery pack, it is for testing, Is there an easier power source? right now I change the batteries every 30 min of run time, the robot seems to have no problems being run for half an hour, but my rechargable 6.0v Ni-MH 1600 battery pack seems to, #1 last only 5 to 15 minutes on a charge, and, #2 need to be recharged all the time, which means I cant be working on it … it may seem like I have a lot of money, but I really don’t, do I need more rechargeable batterries so I can switch them out?
Is a variable bench power supply worth looking into? Not for being mobile, but for current testing?
Hi there, I really need code for the scout, im very surprised that there is lack of it for a fully walking gait on here and on the internet ? this is such a good product, so why not much code around? for it. Jim, can you throw light on why there isnt. i have built mine using 14 5990 digital servos at 440 oz at 7.2 v, i am no good at coding but can build and do engineering good. i know i know you say why dont you learn it, at 62 my mem is not good at retaining things lol so to get these projects of the ground would be so nice . at some point love to impliment a gyro and sensors for edge detection love to have code set up for those as well. guess if i need this to happen i will need to pay someone to do it for me. just a thought, and wondered why with all the ppl out there knowing code as to why none is available for such a good project. Flowstone would be a cool program as when one has built the blocks you can see the hidden code behind the blocks to see how it works. , guess one day ill get this thing to work. cost me enough lol.
Most of the walking gaits have been created by the user community, with Lynxmotion having designed and created the hardware. It would seem as though nobody has submitted sample code as of yet. We can see in videos however that customers have created code:
youtube.com/watch?v=CizhMaYkU1g
youtube.com/watch?v=zDgUqonI0vs
youtube.com/watch?v=L2YgOjPmJXI
youtube.com/watch?v=JM6dLVt8AI4
etc.
There are quite a few threads here regarding the scout and you may want to try their code, then adapt it as needed.
Benson ty for the input , yeah i have seen a lot of vids on the scout, but just wish ppl would submit code as well for a good working gait. i have entered a lot of competitions in my time and submitted hundreds of photos of how to make my projects , pl that create code i wish they’d do the same, a working gait in flowstone for the scout would be great 
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So< Anyone out there in the community have good code for the scout, im using scc 32 and botboard2, considering how long the scout has been around im amazed that no one has posted good code for this robot.
For those that are interested in my website robosapienv2-4mem8.page.tl/
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