I wonder if it would be beneficial to add a small degree of suspension to the joints, to store energy while walking, and to help with compliancy. The human joints are held together with elastic tissue, the connections of muscle to the bone are elastic too.
Something like http://www.thingiverse.com/thing:1025241. It could be printed into the hinge parts of the frame, to allow for a bit of ‘spring’ in the step, maybe even recover some energy?
This type of spring could also be designed asymmetrically to provide more compliancy on one axel, and less on an other, therefor it’s possible to adjust the design of the springs to accurately mimic the compliancy of the human body?
Would a system like this provide a source of compliancy that is not dependent on which servo you use?
Thanks for the official term. Apparently this technique has been applied to a complient biped already. Not 3D-printed ones though, but I’ve seen them used in other hobby projects, mainly as suspension for wheels.
see article:
the best info on the COMAN robot I could find:
The real challenge is getting the dimensions of the part right. Also since the part will fail in time, it should be replaceable without having to reprint an entire leg. I’ll have a look at the 3D files in the online editor if this could be built in, with a full center flange (no preprogrammed holes), so you just can mark the holes on your servo of choice and drill them.
