Hi Everyone. Several months ago I came across this forum and I was inspired to build my own robot. My goal was to design, build, and program an inexpensive quadruped based on the arduino. I loosely went off of Chok's QSR-X1 design. All the parts were laser cut from 3mm acrylic.
Here are some pictures of my robot. Sorry for the phone-quality pictures; I don't have access to a camera at the moment.
^^ I designed it using Pro/Engineer. The chassis started out as a square with mounting holes in it, and I started cutting away material until I liked the way it looked.
^^ Here you can see the design for the femur. It's basically a bent piece with servo slots.
^^ This picture shows the tibia/lower leg. I cut out as much material as possible to minimize the torque the servos would need to apply.
^^ Here is a picture of the double-decker chassis with the arduino mounted inside. Note how cool the translucent acrylic looks.
^^ This shot shows the hip/coxa joint. For this I had to design 3 separate pieces and bond them using acrylic cement.
^^ Finally, these are the servos that I am using. They are rated for 1.5 kg/cm at 4.8V, but I am supplying 6V, so I should get a little more torque out of them. The main reason I used them is that they cost $3 each, including shipping.
The rest of the hardware I need for assembly is on the way. I appreciate any questions, comments, or suggestions you may have!