I am a student at the Poznan University of Technology at the Faculty of Control Engineering and Robotics. As my master degree project I am building a five-leg walking robot and I would like to share the progress of my work and my experiences with you. As part of my master thesis I have to design and build a mechanics and electronics of the robot and develop a controlling software for it.
Here are my initial assumptions:
- five legs, each with three degrees of freedom,
- standard servomotors with torque of about 12 kg*cm,
- height of about 30 cm and weight of about 2 kg,
- remotely controlled via Bluetooth from laptop.
I decide to build a five leg robot because of its innovation and I suppose that it can walk in smooth and stable way. All legs are placed symmetrically around the circular body so the robot has not got front direction defined and can go into each direction with the same simplicity. Bellow there is its visualization:
I design it in Autodesk Inventor. Most parts are made from polycarbonate panels and carbon fiber sheets or profiles. Below I show a mounting scheme, which is the best explanation of construction details.
During the nearest days I will place the real photos of the robot.