Biped Robot Foot Design

General
1

Hi,
I was looking at the Bolt in Solidworks and I noticed that Bolt has point feet in the model compared to flat feet in the recent YouTube video. Is there any hardware documentation for the flat foot design shown in the video? If there is, can you post it?

Thanks,
damuzila

2

Hi,

that’s right - we added a passive ankle joint with a flat foot.
That helps to stabilize the yaw angle of the robot.

Also the length of the upper and lower leg was increased - from 160mm to 200mm.
The longer legs reduce the natural frequency of the system and make it a bit easier to control.

You can find some documentation and the STL files here.

You can view the updated biped cad file in your browser here.

You can download the updated biped Solidworks files here.

Best. Felix

3

Hi,

Is there any updated xacro file of the Bolt with the passive ankle?
If there is, could you please post it?

Thanks,
Tro

4

Hi Tro,

sorry - we don’t have an xacro file for the Bolt robot.

You can probably generate it with the information here: Bolt Inertia Parameters

Best. Felix

5

Thanks for you reply!

Yeah I made one by using Solidworks.

Thanks anyway!

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