Hagetaka
Bipedal Combat Robot
Part 2
By Andrew Alter
In this series of articles, we’re exploring the design
and building process of my robot
Hagetaka: a remotely piloted bipedal
combat robot. In the last article,
we detailed the overall project
goals, as well as the design
and build of the proof-of-concept using the Bioloid
robotics system. We
covered the initial process of
scaling and migration of our
conceptual creation over to a custom built
platform using the powerful RX- 64
servos. This article will showcase the
build itself, the mechanics behind the
leg design, and the theory behind
the walking gait. In future articles,
we will expand upon the use of an
advanced Gumstix-based onboard
controller, power management
system, supporting telepresence
electronics, and the weapons
system. This project is a solid exercise
in taking an idea on paper and moving
it into the physical realm through the
many steps of the design process.
A lot of what is learned here is
applicable to just about any robot
design.
58 SERVO 07.2009
