Update on my Biped project - w/ video

Lynxmotion Legged Robots
1

Hey everyone, almost a year ago I posted images of my biped robot project. I have updated video of the legs moving.

From this I am assuming the resolution is too low, for such long legs (almost 2 feet hip to toe)
I am planning on gearing up 2:1 ratio. The AX-12 actuators I’m using currently have 0.35° resolution, this would put me at .175°

Does this sound like it would be enough? I’m shooting for as much stability as possible (avoid the wobbling) without spending a ton of money of fancier servos.

I was looking at the CHARLI biped, it looks like it’s using the higher end dynamixel actuators. I even found an updated image where it appears to be geared up.

http://blog.ohbowz.com/wp-content/uploads/2011/10/20110802_0214.jpg

Check out those knees!

Here is an image of my current upgrade in progress.
http://blog.ohbowz.com/wp-content/uploads/2011/10/gearup1.jpg
http://blog.ohbowz.com/wp-content/uploads/2011/10/gearup2.jpg

2

Looks cool! 8)

3

Nice looken’ gears!

Do you have enough strength in your legs to support the 'bot?

LM could do with a gear set like that.

Alan KM6VV

4

I appears to support itself okay when standing, the servos should be strong enough.
When standing it move around okay, but not very efficiently, it appears to struggle to get to positions sometimes, and it likes to fall down.

I want to blame this on the resolution of degrees, I want to try to make what I have work, without getting better servos.