Older blog entries for JamesBruton (starting at number 9)

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:


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:


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:


I have got very small steps working with passive hips and ankles for leaning sideways. I always thought I didn't move that much side to side when I walked myself anyway - it was just about getting the timing right, even a few milliseconds here and there made all the difference.

Future will be:

1) moving the hips slightly to make bigger steps (more time between swing from side to side), even loosening the hips on springs will probably give the desired effect.

2) Actively moving the hips and adjusting the timing dynamically depending on how far it swings side to side to keep it on balance and stop it getting 'carried away'. This will be active balance.

I have updeated my android head project to allow for a more 'human' shaped head but still mount r/c servos that will actuate facial expression, check out:


Also had one of my feet snap under the weight of the android so I have made some extra supporting pieces that will be detailed soon...

Today I have done some more work on the arms. The upper arms were already made, today I have made the forearms which will contain motors to rotate the wrist and the elbow joints that allow the lower arm to rotate and bend.

Next stage will be to add two actuators to the upper arm to pan and tilt the elbow joint, also the hands and wrists will be detailed in the android hand article which I started some time ago.

pictures at the bottom of this page:


24 May 2005 (updated 24 May 2005 at 19:06 UTC) »

Firstly, many thanks to those who certified me here.

Today, I have made a short video showing the android in action. There are several shots of it swinging side to side and lifting each leg in turn. This is still statically stable as the timers are fixed that tell it when to move.

Just a reminder - this thing is 5'1"/155cm tall - you can see the door to the room on the left of the shots as a size reference. The video is a DivX and it's 7.34Mb

The direct link to the page is:

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

Hi, this is my first diary entry, if anyone can certify me that would be good...

I decided to join this site now that I have created a human sized walker that works. I will be posting some videos of the testing and ongoing development soon. All the details are at xrobots.co.uk - check out Android 6.

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