weekend update: leg v3🦿

looks strong

Feels strong as well 🙂 There is one small thing that needs to be rethought, so we will do another small iteration on this, and that's it; for this stage, it's more than enough.

It's amazing. Good work!🦿🦾

thanks, appreciated

Super cool, great job. Did you ever try to put the motor for the knee inside the knee?

Placing the knee actuator directly at the knee joint increases the mass and inertia at the distal end of the leg, making it more difficult for the upstream HAA (Hip Abduction/Adduction) and HFE (Hip Flexion/Extension) actuators to move the entire leg efficiently. While this may be useful in some scenarios for the above reason, we decided to avoid it.

Great answer, thank you! I knew you had a good reason, was just curious if you tried. I am working on a totally different use case/ leg design that currently has actuator in the knee.

No, we never tried. The only quadruped I remember with a similar design is ANYmal B/C/D. > I am working on a totally different use case/ leg design that currently has actuator in the knee. I would love to check the design if there is anything public/open-source.

I'd love to show you, but it's my secret backup rocket leg, in case something happens to my Springblade leg design.

I understand, no worries 🫡

Looks great, what motors and actuators are you using?

RobStride

nice, do you have two motor coaxial for the lower leg actuation?

no, just one motor is responsible for the lower leg

Curious about the cable cable management :)

It's coming next; I'll keep posting updates🙂

What’s torque of the robot? How many kg cm ?

any other information about this leg ?

This is the latest iteration of the leg of our quadruped robot, Ayg -

i thought this was cooper but then i realized there wasn’t enough water. maybe next time