Wobbly Raspberry Pi Biped
Based on a 6 DOF BRAT clone kit from ebay ($50!)
Uses 6 MG995 45g servos:
2 Ankle Servos, 2 Knee Servos, 2 Hip Servos
4xAA Nimh to drive servos
2xAA to drive Raspberry Pi via a cheap "emergency charger"
All controlled by a Raspberry Pi using servoblaster software PWM and programmed in python (but might move to C if I need the speed)
Still a bit wobbly as I'm not using the knee servos much at the moment.
Its interesting that I can get it to walk with just 4 servos in use - so there's an idea for my next bot ;)
My 8 year old nephew Jake thought the bare robot looked boring,
so he drew paper clothes, and added arms and legs:
also now goes left/right by varying the individual leg's stride length.
I wrote some code for a fast kick:
This runs the knee/hip servos at full speed, instead of slow smoothly interpolated sweeps like used in walking/ leaning
Servo.hip = 90
For sweep in range (90, 140):
Servo.hip = sweep
I've also moved the battery pack down to the hip for better stability and more torso movement, and can sit down after a long day:
Next step is to give it some autonomous behaviour (HC-SR04 ultrasonic sensor and/or camera)