After working on the biped for quite some time now, and running into a wall, I figured it was time for an update.
I have built a second identical leg and connected the two with a simple body. You can see an overall picture of it
here. In this second
picture you see the robot as it balances on one foot. The problem is that the motors in the foot do not have the power to lift the robot into that position. I have come up with two possible solutions for this.
The first would be to simply redesign the feet to incorporate a lower gear ratio.
The second idea is to not use motors at all. Instead I would replace them and use pneumatic pistons to tilt the robot over one foot.
Again any comments/suggestions/complaints are welcome!