TRR biped category

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.