DPRG mailing list archives: [DPRG] help with 6-legged walking robot

Mon Jun 25 17:08:14 CDT 2007

Additional point on making the horizontals shorter.
The thin horizontals are not torsionally ridgid.  The motors will want to
wave for and aft, which will cause control problems.  Grab the motor and
try to twist the leg off like a chicken leg and you will see what I mean.
You made a good box section on the verticle legs.  And joint to the motor. 
You need a ridgid mount like that for the motor to the body.

Sheila

> [Original Message]
> From: Francesco.Decomite <Francesco.Decomite at lifl.fr>
> To: <dprglist at dprg.org>
> Date: 6/25/2007 7:00:32 AM
> Subject: [DPRG] help with 6-legged walking robot
>
> Hi,
> I am trying to build a siw-legged walking robot. No problem with the 
> programming part : using Microchip pic4620, I can control effectively 12 
> servos, and tested the program with those 12 servos (see picture : 
> http://www.flickr.com/photos/fdecomite/526512679/)
> Then I build on leg (picture : 
> http://www.flickr.com/photos/fdecomite/526513399/), everything still ok
> The problem arises when I put everything together :
> http://www.flickr.com/photos/fdecomite/539468397/
> http://www.flickr.com/photos/fdecomite/539369120/
> http://www.flickr.com/photos/fdecomite/539483411/
>
> The machine seems to be too heavy, and the servos seem to ask for much 
> more power I can give them.
> Any hint on how to control this power demand ? SOme mechanical or 
> electronical solution, or at list some pointers ?
> Thanks !
>
> -- 
> Francesco De Comite
> tel (33) 03 28 77 85 72
> fax (33) 03 28 77 85 37
> www.lifl.fr/~decomite
>
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