In my quest for joint compliance I stumbled upon Servo Savers. Are these devices compatible with the brackets?
I’ve seen those also. I can’t remember if they are taller when mounted or if they are level with the mounting screw. They do have some kind of spring mechanisim in the design.
Were you thinking of putting them on the knee joints?
I wasn’t thinking of gear safety as much as making the joints a bit passive. The algorithm I’ve been playing with doesn’t do anything to ensure that all the legs move in the same direction at the same time and I wanted to allow for some compliance. I figured that if I had these in all the joints and the legs move in ways that aren’t compatible it would be less of a strain on everything including the battery.
Thanks for prompting me to find out about servo savers.
There are a bunch of pictures of servo savers out there, unfortunately there arn’t any that show how the hight compares to a standard horn.
Many of them appear to have the mechanism right where the standard mounting pattern needs screws so it’s likely that they won’t work.
Andy, I’m designing a leg with integral lateral force sensing. Compliance is a by-product of that. The design is based on a sandwich of conductive rubber and electrodes between an HUB-08 and a bracket. The hub is mounted with a single bolth through the center. I’m still waiting on some parts to complete the prototype. I’ll post when I get one working.
WTW: Looking forward to it. I’m probably switching over to SES soon and may be able to take advantage of your design directly!