This is a new foot of poppy. This foot allowed dual rotation and improves stability. I just add a double rotation with MX28 and I modified a leg. Here are several views with Solidworks: Right view: [image] Front view: [image] View with rotation: <img src="/uploads/poppy/27/5d14acb45db8b03d.…

Sound great idea to have a double rotation, that is more “Human like” Maybe the ankle on the back (like human) could give better results.

And maybe a spring to simulate the Achilles tendons like the two springs in the knee.

Really good design @Alexandre , I only have 2 comments. I’m agree with @aurelien , I would like to see the double-rotation placed in the other direction, with the sagittal DoF at the back and the lateral DoF on the front. I think the material placed here: [image] Both limit the rotation amplitude…

I make the modification [image] [image] @Matthieu I can’t reduce the gap between the foot and the motor. I just 2mm margin. Looking the picture [image]

If you really need more gap, maybe you can cut the U part in 2 part to let more space. But if Humanely, you can’t make a 90° angle with your fit too … maybe 70° max too. So it’s pretty human and sounds good :slight_smile:

[image] aurelien: If you really need more gap, maybe you can cut the U part in 2 part to let more space.But if Humanely, you can’t make a 90° angle with your fit too … maybe 70° max too. So it’s pretty human and sounds good Yes, it’s true, so I make a modification. Now, the lateral Dof allows…

To integrate force sensors under such foot, maybe we should simply use the work done on DarwinOP ? In particular, they have an already designed and functional electronic board … http://www.generationrobots.com/en/401436-darwin-op-fsr-embedded-foot-set-robotis.html

It seems to be a good device, but 400€… Each resistive sensor is 7.5€. 80€ of sensors ok but 300€ of electronic measuring resistance, I dont understand.

I guess it is the aluminium parts that are costly… As we are already using a lot of Robotis motors, maybe can we buy only the electronic

Yes, a good point I just saw is that it is seen as a Dynamixel servo motor according to connectics.

Special foot with a double rotation

Technology

Topic		Replies	Views
New foot design Technology mechanics	12	4809	July 8, 2014
New solution of ankle: Motor + spring Technology mechanics	11	7785	February 25, 2015
New solution of ankle : Two linear actuator Technology mechanics	7	5768	November 21, 2014
Amazing if Poppy can walk like human like this robot Science	8	4814	August 1, 2017
Changing Dynamixel to RC Servos (mechanical) Technology actuators	16	15368	December 13, 2019

Special foot with a double rotation

Related topics