Older blog entries for JamesBruton (starting at number 14)

28 Aug 2005 (updated 28 Aug 2005 at 17:39 UTC) »

I now have Mr Stick Legs walking around, I've put a page up of all the android videos here, more coming as I do them. The Mr Stick legs video is here (6.27Mb Divx)

here are the androids having a loverly time together as a size comparision - the tallest is about 6ft, Mr Stick legs is 4ft7/150cm.

He's a bit wobbly when he's on one leg, but this is because all that holds the leg straight is a bungee cord on each side. The plan is to make the legs a bit more rigid for sideways movement, although this has proven a vauable test to see how much I could reduce the motor count and mecahical linkages to simple flexible cords and springs - a bit like a human. Mr Stick Legs has only three motors for walking. The constuction details are here

The legs have the machanical ability to rotate also, so it can turn on the spot etc, they are fixed for now but the levers are there to attach actuators to, so once it walks reliably this is next to work on, along with the arms/hands and the pen/tilt camera mount.

I've done quite a few things to my android over the last few weeks, the arms are on as well as the elcectronics from the last android have been fitted inside the body.

Some direct links to the pics are:

here

here

here

and here

The rest of the construction is here

Remember - this thing is 4'5''/140cm tall with no head. It can lean from side to side under it's own power so when the legs are bending too it should be able to locomote...

I bought a big piece of drainpipe/waste pipe from my local DIY store - it's like a giant 4 way junction with a large inspection place in the middle to look for something(?). The 4 pipes are ideal for the waist, head and arms and the round section in the middle will hold all the electronics.

ALso got the android to shift and balance it's weight from side to side with only motor now all the bungees as pull- wires are on.

It's all here

I have got the android to statically balance on one leg, nearly there for getting the motor to make it do this, just a few more pulleys to add. It's currently areound 3ft tall without any upper body at all...

It's all here

I have now started the pelvis assembly

It's all here

Knee caps are made and the bungees are on!

Just have to make the rest of the hips and the winch pulleys for the leg motors and it should be ready for some peliminary testing:

It's all here

I have now built the ankles / feet and started the hips of the android. The knee-caps will probably be next as they are needed to spring the legs straight and are key to making them bend in the right direction with one motor.

It's all here

Started another whole new android this weekend. Number 6 will remain for various stuff although I might seperate it's arms and legs into two machines...

The new one will be my main constuction focus for now; this android is kind of a cross between 3 and 6. It has quite similar legs to 3 but will use wiper motors in the body pulling cables to the leg joints so it can be more spindly than 6. This is why it's called 'Mr Stick Legs'.

I am trying to reduce the motor count from five to three for walking and also build in the ability to rotate the legs so it can walk around corners and turn on the spot. Because the legs don't have any motors mounted in them they are also able to bend further and so it should be able to go up steps/stairs. The body will also hinge at the waist so it can shift its centre of gravity forwards and backwards.

It's all here

Although mainly it's just some stick-legs at the moment...

more coming soon.

I have now got my 'version 2' arms on the android, check them out here:

http://www.xrobots.co.uk/modules/news/article.php?storyid=15

Be sure to check the pictures right at the bottom of the article as the ones half way down are the original arms...

They are quite scary and can probably make the tea once the control electronics are installed.

Right, got my robot walking forwards. Check out the second video at the bottom of this article:

http://www.xrobots.co.uk/modules/news/article.php?storyid=16

Just a reminder - this thing is 5'9"/159cm tall (it has grown since last time as the new hip assembly is a bit bigger)

The construction article detailing the hips and sideways action is here:

http://www.xrobots.co.uk/modules/news/article.php?storyid=15

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