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7 days ago

3 servos per leg ?

3 comments
6 days ago

Yes, shoulder roll + shoulder pitch + knee pitch. Ankle pitch is passively connected by link. There's another DoF at paw.

6 days ago

Is the Ankle making walking any better or it is mainly design feature ?

6 days ago

It's hard to evaluate. It does look better but also introduces structure and algorithmic complexity.