Hybrid Quadruped Robot

Hello, robotis community! I’m quick to share you my first Quadruped Robot, which was built with dynamixel XL430 and 2XL430. It’s not perfect, but I like messing about with it.

Here is the strategy that I used to finish this project.

Metho

3D CAD Model⚡
model

Detail Design :building_construction:
d1
Side View
d2
Top View
d3
Front View

List of Material Used:
material list

Fabrication

  • Robot Structure: 3mm Black Arcylic sheet used to hold the robot.

  • Leg Joints, Wheels are 3D printed.

Electronic Circuit Diagram

cir

Control Architecture

arch

Assembly🌡

final.PNG

Controlling the robot using Forward Kinematic and Inverse Kinematic.

In order to move in certain Translation we have used a simple math like trigonometry to solve the problem. In layman’s terms, we know the length and height of the robot leg, while the unknown variable is theta of each joint. Below is an example of a simple leg configuration.

trig

Let’s have a look at the robot in action.

Quadruped test video

End of experiment

3 Likes

Which mode did you put the servos in? Time Control?

I am using Position Control Mode with joint limit which is configured in the software.