Mini 3-Servo Biped - Duckling!
This is my take on a very simple 3-servo biped. It is inspired by Frits's "Dead Duck" 3-servo biped.
My version is made with 3D printed parts, and the entire robot is shrunk down (and uses micro servos).
The walking mechanism is also simplified. Instead of a mechanism to lift the legs, I used wedge-shaped feet and rely on the motion of the swinging head to shift his weight from one leg to the other. (To be honest, I wasn't sure it this mechanism would work, but it seems to be working pretty well so far.)
I designed all the parts using 123D Design, and printed them out on my Up Plus.
Initially, I had planned to make him "backwards". You can see in the walking test video that I had planned to put the ultrasonic sensor on the body, and I was going to use the swinging part as a "tail".
However, when it came time to attach the battery holder and microcontroller... I just felt he wanted to be a duck... (Call me crazy.) So, I ended up weaving the excess servo wire length into a duck-like tail, and mounted the battery holders to kind of look like wings.
I've now given him a proper head that includes an ultrasonic sensor. Using that, he is able to detect and avoid obstacles. Currently, the obstacle avoidance is very simple. He just backs up and turns right. However, now that I know the ultrasonic sensor works, I'll work on making him a bit smarter!
I had so much fun building him, and also learnt a lot in the process. This is the first time I've used 3D printing to create a robot from scratch. When I get time, I will refine the design of the 3D printed parts to make him easier to assemble, and will create Duckling version 2.