This project is the ancestor of the automaton used for the TRR 2016. It is a 3D printed hand with only 4 fingers. I have made the design of the fingers joints such that the actuation can be made with 2 motors per finger. A piece of fishing line goes through the joint to mimic the anatomic pulleys of the fingers. The fingers were actuated through servos controlled by an arduino board.

The last category of the Toulouse Robot Race was the biped category. This automaton didn’t participate to the competition but it was a very apreciated gift to one of my friends who works in robotics 😋. It was (almost) stable on each leg during the swing phases. Each leg was equipped with 2 degrees of freedom including a prismatic joint. I designed all the meechanical structure and printed it. The servos are controlled with an arduino and the batteries are contained in a commercial casing.