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Digit |
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After seeing how much work a six legged robot would be, I began to realise the advantages of just two legs and so, Digit was born. The design was basic with just two servos, one to tilt the robot, to move his centre of gravity over one foot or the other, and the other to push the legs backwards and forwards. The basic robot was built in an evening. Then came the refinements. Stiffening his legs, making his feet bigger, and reducing slop in the joints. Fortunately, I had already had some experience programming PIC's to control servos, noteable with Granny Weatherwax's head servo's. So it wasn't long before Digit was limping along. However he just wasn't fast enough for my liking. So I stored him away and began work on Digit Evo 2 (see below) Digit Evo 2 took a considerable length of time to build, and still needs a lot of work, although far more sophisticated than Digit 1, he's far wobblier and considerably more complicated to get walking. I've had a lot of fun working on him, but in the end decided he wasn't going to be finished in time for the 2006 UK Robotic Games. So I dusted of the original Digit and was pleasently surprised to find that with just a little more work he wouldn't be too bad. |
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The main change was mounting the batteries, and radio.
After sorting out the tables in the software that told the servo's
what position they had to be and when, I decided the chassis needed
more stiffening. This being just a few days before the event was a
problem since it again changed the centre of gravity again, which
ment re-writing all the tables. However after extensive fiddling and At the event - Digit weighed in at 700 grams, and passed the tech check with flying colours. So we were free to spy out
the competition, and watching the other competitions. I managed to get quite a few photo's of an assortment of robots, see the
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