Pochitabot is a tetrapod that uses my N20 series elastic actuator. The modules are paired in each leg in a 5 bar mechanism configuration. Currently, it has position control and potential torsion sense (not yet implemented in the software).
Parts are HERE.
In the maths folder there is a file that plots the task space of the leg, an ellipse and the joint angles to perform such ellipse, as the first approximation to a walking curve.
There are 3 programs in the src folder. One is ModuleTest, which is a sweep, LegTest, which draws an ellipse, and Pochitabot, where every leg draws an ellipse.
The proper documentation of the code is not done yet.
- Change the microcontroller to a Teensy, the Arduino Mega does not have enough pwm pins. I'm also not sure if the microcontroller is fast enough.
- Implement trajectory generation and speed/acceleration control.
- To strengthen and characterize the servo module design.
- To strengthen and characterize the leg module design.
- Optimize leg length.
- To analyze the inclusion of a toe.
- To make a PCB.
- Add a button and a switch.
- Implement torsion sensing.
- To find a way to deal with the singularities and solve the inverse kinematics for the other quadrants.