RobotThoughtsWalking Lego Robots
I had a chance to build the iitsii Robugtix hexapod and took some time to play with BigFoot Inverse Kinematics engine that comes with the platform. The engine really simplifies the gait management with the six legged platform. The build was easy, even though you have to manually position 18 servo motors by hand. The documentation is great and includes a serial command reference if you want to do some arduino interfacing work.
I updated my Lego NXT holonomic platform a bit. The main changes revolved around the orientation of the motors so I could get true 360 degree movement.
I have been working on a few different designs for a holonomic drive robot. A true platform like the other killough platforms made from Lego would probably contain wheels that rotate differently, but I wanted to publish this design because it is interesting.
I tried two different versions that you can see in the movie below. One version uses wheels but I also built this platform into a three legged walker.
Another take on the M-Leg walker design.
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This was one of my first walking robots.
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This spider turns on one leg.
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It is tough to place this one.
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A large legged yellow walker.
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A cool wallking design, courtesy of Jin Sato.
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A clean six-legged robot that moves quickly.
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