Aiko's new leg

Hi

Well, if we are lucky Aiko's new legs will be going live in her next public appearance.
Hoping the leg will be done for Nov appearance.

This is version 0.5 for the leg,
This version will have no toe movenment. Just your basic leg function.
But one step at a time.
Might not have time to do much programing with the leg for the public appearance.

test123

Nice to see you're improving Aiko, but is she going to walk or just move the legs a bit? I think you need the toes to move all at once up and down in order for her to have balance while walking so I guess the legs will just move not walk.

You don't need toes movement for balancing. I mean the toes have to move but not with motors, they only should be soft (not too soft either, they should provide some resistance).

You really don't need toes to walk, but for more natural movenment, Aiko should have toe movenment.
But that is for future version.

A simple solution is to put the toes on hinges (big toe on door hinge) much like normal bones in the body.
They don't need to go up and down.
In fact they can't.

A toe bone will stay in one place while the bone attached to it pushes down like a lever, and the part that attaches to is another lever.
This means nothing is bending down, but in relation to the above surface it looks like that.
I don't even see why curling your toes was important to evolution.
Just a leftover set of fingers as far as I can tell.
Toes can't bend up at all unless walked on.

How are the legs coming?

I am hoping it will be done before Science center appearance in Nov 21,22 2009. If not then December.

Yes, Aiko doesn't need toes to walk, but it would be nice to have them.
The first generation will not have toe, cost more money, and beside, I haven't program any toe function yet.

she probably wont walk yet so I imagine you have her peddle her legs, Like one would while sitting on a dock with feet's in water.

Hi Le, if you will not finish the leg movement you can at least make Aiko to stand.
Like DER (Kokoro) robots, she would look much more interesting than in the wheelchair.

Or you can take wheels and motors from an electric wheelchair and make a balancing system like segway.
Or segway style balanced static legs - like in Strike (Pantsu) Witches and put Aiko in a long skirt so the legs would be hidden.

Yeah, I have to give back the wheelchair, this is why you don't see Aiko with a wheelchair at the hobbyshow.

Yes, I should make Aiko stand, keep saying tomorrow, but always busy with other stuffs..
But for sure, we should finish the leg systems by christmas... or science center appearance would be nice.

you could build the leg without the skin and well test it on aiko 1. Im sure you need a really strong force motor/actuators for the upper leg to hold all the weight of the upper body at bending position ...
There's balancing problem when walking. So 1 balance sensor at head and 1 at hips?.
Where will be alot of software work just to make her walk properly and smoothly.
She will fall alot .... at first

what sort of join using?
ball or something original ?