Foot with built in mechanical advantage

[nicolas gomez]

Hello! Here I found another type of foot for our robots

Supported Humanoids
- Robotis Bioloid
- Kondo KHR-2
- Hitec Robonova
- Kumotek KT-X

https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/104/


https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/103/

[MOHIT JINDAL]

Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans.

Thanks.

[nicolas gomez]

Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans.

Thanks.

Hello

May be you need first make a simulation to choose more better the number of servos and placement, and reading more about the biped robot desing, the simulation help you to make more better you prototipe and dont lose money, materials and work

here you see another king of legs

http://forums.trossenrobotics.com/showthread.php?t=4164

and more there

http://robosavvy.com/forum/viewtopic.php?t=6249

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here a video example

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1st) make a simulation of the model of you robot

2nd) in your case build the robot and test

would recommend that you first complete the lower legs, knees and hips and test it to wallk in the simulation

http://www.openrtp.jp/openhrp3/3.0.7/en/download.html

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I hope this information helps you with your robot development
regards

[MOHIT JINDAL]

Hi, Thanks for the videos
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation

[nicolas gomez]

Hi, Thanks for the videos
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation

Hi!

1st)

OpenHRP (Open Architecture Humanoid Robotics Platform) is an integrated simulation platform for mainly a robot and consists of main dynamics algorithm developed by Nakamura Lab, Department of Mechano-Informatics in the University of Tokyo, a graphical user interface developed by General Robotix,Inc and others by Advanced Industrial Science and Technology (AIST).

Whit it you can bulit you robot prototype and test diferents places and angles of you servos to decide how place its.

In the next post of this forum some members use the bioloid premium model in the OpenHRP to simulate and test gait pattern walk

"BioSim.zip is a package that contains the customized files that I used to simulate the Bioloid Premium using OpenHRP"

read here the all the post

http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Ther the files of the robot in OpenHRP

http://robosavvy.com/Builders/Fritzoid/

and here a video of demo

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Here the example of model biped robot in openhrp3

http://www.openrtp.jp/openhrp3/3.0.7/en/sample_model.html

and videos of examples

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2)
Here you can reading about the mechanical biped desing, find topics like torque, mas distribution and different biped configurations, note that the torque of the servos AX12 limit the length of the legs that you can use, look the equations in pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch2.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch3.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch5.pdf

http://www.duke.edu/~aa77/report1.pdf


http://robotics.ee.uwa.edu.au/theses/1998-Biped-Nicholls.pdf


There more robot modificated in the forum

http://robosavvy.com/forum/viewtopic.php?t=5821&postdays=0&postorder=asc&start=0


http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Remember that internal gears are of plastic so you can`t put too much weight that will break

regards
PD: I send you a private mesage whit other link wiht a book