The BiPed robot V-3 was designed to get as close to the freedom of movement of the human lower body, it has 12 degrees of freedom. The frame is made of acryl-sheets and model servos are used as actuators.
For now the robot is controlled via PC, autonomous behaviour when development finished. The software allows to generate motion-patterns, replay them and view actual sensor data.
Used sensors are a two-axis accelerometer for the orientation of the hip and four force-sensing resistors at the bottom of each footplate. A kind of torque feedback of the servos is realized by measuring the driving signal of the servo motor.
Further information at www.austrobots.com.
Step 1: Framework
The framework is made of acryl sheets. The parts get cut by a CNC milling machine, the first parts for testing were cut with a fretsaw.
The actuators integrated in the framework are servos used in RC-modeling. In general one servo is responsible for one degree of freedom. For a better mechanical stability two servos (at the top) are combined for lifting each leg. The servos actuating the footplate are working parallel.