Bipod Control

[John Gutmann]

I am not really sure what thread to put this in. I am starting a new project when I get back from vacation, I want to make a walking bi-pod robot using hobby servos. The uC will be a Atmel AVR ATMEGA16 and to control the servos I will outsourcing to THIS. The servo controller works off of USART and takes 3 commands, start (0xFF) servo # and servo position (0-255).

The actual construction will be relatively simple considering I want to start small then expand once I have this working good. One problem is I am not using a gyro >_<. But it will have several parts, the feet, the lower leg, the upper leg and the platform the controls sit on. This means there is 3 joint per leg which also means that the legs only move on one plane. Part of the control problem is that I don't know a good way to make it turn. I was thinking making the inside step smaller. Also if it matters I will be having 2 switches per foot to know that the foot is flat on the ground.