My first attempt to model that
great biped walker in the Star Wars movie. He can walk forward, and turn right
and left. He uses chain drive and a rotation sensor to control leaning, and
chain drive and touch sensors as limit switches for leg striding. He is a little
unstable turning and has a tendency to fall over once in a while. His leg
stride/weight shifting mechanism is very similar to that of robo-hominid, except
that the motors are inside the wheel base and they drive things using chain.
MLCAD
Building instructions
I have two movies, one of AT-ST walking and the other turning.
An mpeg movie of AT-ST walking (294K)
An mpeg movie of AT-ST turning (316K)
