Robotics

While I have been working on my AI class, I've been designing a new robot leg to act as a modular limb of my quadruped robot. The initial design uses a belt drive for the tibia to keep the center of mass closer to the hip. After the build was complete, I realized it would present issues with accurate position index matching on the other legs. I'll need to add a unique angle offset on each leg to adjust for the discrepancy in belt and pulley position. The pulleys provide a 2:1 reduction from the servo to increase torque on the lower limb. I'm considering redesigning the legs to use bar linkages in order to get more repeatable construction and reduce the overall width of the leg. This would reduce the lower limb torque, but I'm not sure yet if this would be an issue. Once I finish the control code, I should be able to better determine the needed values.