Let's Make Robots!

The way we walk...

Walks straight ahead
FourServoWalker-080617a.zip65.31 KB

This is an attempt to build a walking biped with only 4 servos, since that's what I have left right now. Since I don't have any video recording equipment right now, I'll try to describe how it walks. It start by tilting left to put all the wight on the left foot and lift the right foot. This is done by turning the left foot servo to the left, while turning the right foot to the right to support the robot as far as possible in the tilt, like this:


When the left servo turns further to the left, the weight will be on the left foot and the right leg will be lifted:


After the leg has been lifted, the robot will use the other two servos to move it forward. At this point, I always reach out for it, because it looks like it's going to fall:



Next step might be to add a gyro or acceleratometer, so it might adjust itself, if it's going to fall.

The "brain" is an Arduino that is mounted on a perf board. Only port 0-7 are connected because, the Arduino designers have, in their infinite wisdom placed the connector for port 8-13 half a unit from the 0-7 connector, so it won't fit on a standard perf board.

Perf board with connectors

I'll add a video next week, when I get my hands on a camera that can record video (no, there is no camera in my phone and my webcam doesn't work)


UPDATE: Video available.

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You need to set the video to Phil Collins I can't Dance.

 I can't dance, I can't talk.
The only thing about me is the way I walk.
I can't dance, I can't sing
I'm just standing here selling everything.

Very nice robot. Eventually I want to do a walker...

"The way we walk" is actually a Genesis live album :)
Can you tell I'm not a fan ;)

Can I see the code you used to move the servos. The code that I am using right now is veary complicated and can only move  the servo in a 180° arch.

Servos are normally only mechanically capable of a 180 degree turn unless they're custom.
Sure. I'll attach the code to the article. But shield your eyes, it's not pretty :)

Wow - cool way to walk!!!

/ Fritsl

Well, OKay, the first one that actually walks, maybe...
Thanks. The second video should be available soon, when Youtube has finished processing it.