Over the summer there have been a few developments worth mentioning (look them up!). Such as Boston Dynamics starting to offer their Spot robot for commercial purchase. Not as favorable, some robot shops in Bristol, England have gone out of business. But, on the upside, the good people at ETH Zurich Autonomous Systems Lab are still producing awesome robot projects. The community is continuing with things like this past weekend's Toulouse Robot Race. Plus many new videos on YouTube: Oracid1 has a good quadruped playlist, and even James Bruton found the benefits of compliance in quadrupeds! ;)
To get back into the design phase, I am planning on starting mark 3 of Mojo, the compliant quadruped robot dog. Hereby to be called Mojo3 (so original!) In the next design, Mojo3 will improve off the systemic issues of Mojo2. Primarily, I will remove the servo from the direct load bearing connection between the leg and the body. With basic common engineering sense, I will use a bearing for this connection, and utilize a cam system to move the leg.
Next I will incorporate the knee flexor servo into the primary leg servo, attempting to remove a servo (x4) from the design. This should again use a cam system to translate the leg motion into the up-down motion of the knee flex. I will reduce the weight of the robot, Mojo2 was 263g (seems light) without the battery. This is due to the heavy servos. I will attempt to use the 9g servos again, lets see. compact and agile will be the plans, along with off the shelf components.
Here is the first drawing of Mojo3! Can you see the various components??
|Mojo 3 - Compliant Leg sketch-draft|