Small Bipedal Walker

Description

I want to build a walking bipedal robot which would walk the most naturally possible, which means like a human would. The exercise is to stray far from Asimo (and countless others), which walks and run with its knees bent, something that exasperates me no end. What I want to achieve (my dream goal) is a robot that walks like the one from Dr. Guero (Google it).

Since I'm on a budget, I went for the inexpensive Dynamixel XL-320 and Opencm 9.04. I also got a Raspberry PI as I wanted a more powerful platform to do the data processing.

The pictures are from an older prototype.

The 3d model was made with Tinkercad. All the plastic parts are 3D printed on my Tevo Tarantula.

I will update this page when I have completed the last pieces of the hips, which I have completely redesigned.

Stay posted!

Components

21 × LX-16A LewanSoul Servos

1 × LewanSoul Debug board

1 × MPU-6050

1 × Raspberry PI 4

4 × Pressure sensors (for the feet)

Project Logs

Collapse

Any bipedal creature needs this crucial part...
stefane.lemay • 01/23/2023 at 19:38 • 2 comments

I have started to tinker with ROS and Gazebo to implement what will be the most crucial part of the robot: Its brain!
A walker needs legs!
stefane.lemay • 02/12/2021 at 00:15 • 0 comments
Finally, the bottom part of my biped named Walk-R is now done. After countless redesign and re-prints, here it goes!
I will now spend my time researching how best to make it alive.
The next steps:
1. Integrating the MPU-6050 to the RPI4.
2. Doing balancing tests
3. Doing simulations in ROS Gazebo to study possible algorithms for balancing.
That's it!
Stay tuned!
Hardware changes (again)
stefane.lemay • 07/11/2020 at 00:28 • 0 comments

I finally got sick of battling with the XL-320, OpenCM and Pixl boards. It was either not working under Linux or not working with more than 6 servos.

So, I looked up for something else and after a while, my choice stopped on the LewanSoul servos. So far, they meet my expectations. I have 1 leg done (minus the foot, which requires a redesign) and I'm waiting for the next batch of servos to come at my door.

Stay tuned, as I will show up where I'm at when the second leg (and hips) is done!
Hardware changes
stefane.lemay • 03/25/2019 at 16:35 • 0 comments

I've begun to port the thing from the OpenCM to the Raspberry Pi, using the Pixl board.

I still have issues with it, though. Next post should be when I have solved those issues and have a robot standing on its own two legs!

Next goal: A self-balancing biped bot...