I finished to built the lower part of the body of the robot. Here are some pictures of how it looks like with a focus on the foot and the silicon layer under the foot.
some details on the foot:
I made some tests to check stability mainly and I noticed:
- The points of contact the silicon layer are spherical and because there are some play in the overall structure, the lower part of the robot roll on one side - what I have to do is to flatten them;;
- The axis of rotation of the ankle is too close to the heel contact, meaning that when the robot stand up, it needs to flex forward in order to keep balance – What I have to do here is to increase that distance (or make a longer foot);
- The forefront foot is not large enough to guarantee stability – what I have to do is to enlarge the forefoot and the midfoot;
- Finally the distance between the axis of the ankle and the foot is too important as well – what I have to do is to move the motor in charge of the forefoot.
This is why I changed the design of the foot/ankle part and you will find below the new design that I will test soon: