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Introduction
I have build several robotics in the past. Mostly on wheels but also stationary ones such as cranes and conveyor belts. Lots of fun and frustration but I needed something different so I decided to give a self balancing walking robot a try. After many hours I had to admit defeat.
However I liked the idea of a walking robot so I settled for a hybrid of legs and wheels. The wheels are there to keep the robot steady and the legs create forward movement.
I found that by placing a platform on the wheels it could carry the battery and the electronic hardware. That meant that servos used to move the legs could be small and cheap. Another thing was that the platform could be constructed in such a way that it became amusing. Such as a gurney, a dolly or wheelbarrow. You can see them in my previous post as attachments.
The one I use in this post is a rickshaw carrying Darth Vader.
The rickshaw has no object avoidance built in. I did try it on a 2 wheel wheelbarrow but the only way it worked was by using a large turn radius. I hope that someone out there comes up with a usable solution.
The only platform I did not use was a grocery cart. My robots live in a world where there are no humans anymore so no food is needed.
The material I use in most of my projects is 1 to 1.5 mm aluminum but the rickshaw is built with 4mm plywood. Of course those people owning a 3D printer can have a ball designing futuristic platforms. You will find the measurements for the robot in the attachments.
The robot is made mostly from aluminum but its torso is wood.
Make sure that the weight is over the wheels so that the robot servos are only to move the weight of the robot..
I use a simple sketch with a couple of for loops.
YOU WILL FIND A VIDEO IN THE ATTACHMENTS