Skip to content

Latest commit

 

History

History
139 lines (110 loc) · 5.96 KB

README.md

File metadata and controls

139 lines (110 loc) · 5.96 KB

Biped Leg 3dof v1


Biped Leg Cad Model


Biped Leg 3dof - weight: 500g

Biped Hip Modules

  • compared to the upper leg module the timing belt of the second stage of the hip AA and hip FE modules was rotated by 145 degrees
  • this makes the modules shorter and more suitable for the biped robot
  • all the internal parts are identical to the original actuator module
    Comparison upper leg module and biped hip module

Hip FE Actuator Module


Biped Hip FE Actuator Module - weight: 155g



  • there is a left side and a right side version of the Hip FE actuator modules
  • the left side and right side modules are mirrored versions of each other

Hip AA Actuator Module


Biped Hip AA Actuator Module - weight: 153g



  • there is a left side and a right side version of the Hip Aa actuator modules
  • the left side and right side modules are mirrored versions of each other

Upper Leg Module


Extended upper leg module for biped robot

  • initially we were using the standard upper leg module with a segment length of 160mm for the biped
  • we are now using an extended upper leg structure with 200mm segment length
  • the lower leg length was also increased to 200mm
  • the longer legs help to decrease the natural frequency of the system
  • the interfaces of both versions are compatible and all the internal parts are identical


Comparison Upper Leg Versions - Top: Upper Leg 160mm / Bottom: Upper Leg 200mm

Lower Leg with Passive Ankle Joint


Foot with passive ankle joint

  • the length of the lower leg was increased to 200mm and a foot with passive ankle joint was added
  • the line contact of the new foot helps to stabilize yaw angle of the robot


Comparison Lower Leg Versions:
Lower Leg with point contact and lower leg with passive ankle joint

Off-the-shelf-components


  • Steel pin - diameter 5mm / length 28mm
  • Silicone tube - O.D. 12mm / I.D. 8mm / RS 163-9362
  • Cut 4 silicone tube pieces - 2 x 25mm length and 2 x 8mm length
  • M2,5 x 20mm socket head cap screw with washers and locknut
  • Rubber band

3D Printed Parts


The recommended printing direction for all the parts below is the positive z direction of the stl files.

All the STL files for 3d printing the biped legs can be found here: STL Files Biped Leg 3dof.













More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University