I am developing a bipedal robot featuring my custom made QDD actuator, SpryDrive. Compare the "chickenwalker" design to Agility Robotics' Cassie, as well as the Blackbird bipedal robot.
The focus of my design is to move the CoM as far upward as possible (to better match the SLIP model) while also reducing limb inertia and optimizing for minimal weight and simplicity. To achieve this, I have located the ankle and toe actuators in the tibiotarsus member and set the ratio of the lengths of the tibiotarsus member to the tarsometatarsus member as 2:5 (whereas traditionally a roughly 1:1 ratio is used). Foot actuation is attained with the use of a four-bar linkage mechanism.
You can see my progress on the Github Repo.
The rendering shown is of a WIP design and is subject to change.
The focus of my design is to move the CoM as far upward as possible (to better match the SLIP model) while also reducing limb inertia and optimizing for minimal weight and simplicity. To achieve this, I have located the ankle and toe actuators in the tibiotarsus member and set the ratio of the lengths of the tibiotarsus member to the tarsometatarsus member as 2:5 (whereas traditionally a roughly 1:1 ratio is used). Foot actuation is attained with the use of a four-bar linkage mechanism.
You can see my progress on the Github Repo.
The rendering shown is of a WIP design and is subject to change.
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