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Leg Operational
09/21/2018 at 01:56 • 0 commentsQuick update: I finished wiring up the encoders and got the leg working. More to come soon.
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First Leg Complete
09/07/2018 at 00:26 • 0 commentsI finished assembling the first leg for the prototype Blackbird robot. It's made from 2 OpenTorque actuators, some carbon fiber tubes, and a few printed parts. (The parts were printed out of PLA but will be redone in NylonX for the final version.)
Since this is a simplified prototype, there's no ankle joint. Instead it has a point-contact foot. This makes it a better approximation of the spring-loaded inverted pendulum (SLIP) model, which makes developing the controls easier, but it'll need an ankle joint to be able to stand still. Until the ankle joint is added, I can use dynamic standing (see the video below).
Next up: building a test rig from V-slot extrusions and seeing how high the leg can jump.