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Mindstorms® Advanced CoG Biped |
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Compact, fast on walking, smart on turning, only two motor powered, this CoG shifting biped uses a standard Lego Light Sensor as proximity sensor, using signals emitted from IR port of RCX.
On both feet a touch sensors lets RCX know which foot is on the ground and count steps. On the left, the essential structure. On the right, detailed version, with anime-like eyes and hands. The robot is built only with a Mindstorms RIS 1.5 kit. |
Note:
If you are a documented web surfer, you could notice that this tiny biped resembles a bit to Kevin Clague's Lego Maniac.
Years ago, when I began collecting ideas, I was fascinated by that robot; so, with the CAD instructions I found on Kevin's page, I tried to build it.
Finding pieces for it was hard and at the end, the walking mechanism was too slow and very noisy.
So after a year of study and trials, I reached this result, and I'm proud of it.
The walking mechanism I adopted is similar to the one of some robots I saw in BrickShelf galleries. Thanks Kevin.
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Both motors use a worm gear trasmission to a 24z gear: in the foot the gear axle is attached to the "ankle" frame, while in the body, I had to encrease walking speed by meshing the 24z gear to a 8z gear (not visible) that feeds the crank shafts (also these are 24z gear). Some power is lost in this process, but the geared minimotor don't suffer a bit, assuring a smooth walking. |
| Side view. | Back view. | Here's a video of Advanced Biped walking. |
Built in October, 2004
First motor
drives feet, allowing a smooth walking.