Below is the first draft of a compliant leg system in OpenSCAD. Have drafted out the basic parts to get a feel for the shape. Most important is to start to visualize how the parts will fit together and start to move. In this draft the parts are small, with a focus still on the "cheap" 9g servos.
|Mojo3 - Robotic Leg - First Draft (OpenSCAD)
I have been thinking more on adding some compliance to the 'arm', with an additional spring that will take additional load off the feet and try to ensure more contact with the ground. hopefully the servo will have enough pull to off set this compliancy when it is time to lift the leg.
In this iteration, i have simple spring in a slider, at the end of the 'arm'. In a sense, this will operate more like a ball point pen. The first draft print, was enough to prove that the concept works. I will need to add more surface to the fore-arm to contain the spring, however the slider and screw lock are fit for purpose and work well.
|Mojo3 - Robot Leg-forearm - first draft
Next I will have to go find a small bearing and start work on the hip part of the leg.