Robot soccer is becoming more and more popular. This is why I and 2 other first-year students took an assignment of building a humanoid soccer robot leg from scratch. We first started of with research on existing robots. After this we made foam board models, to test the movement of the robot. Below you can see a movie of the ankle joint, built out of foamboard and old servo’s.
Our final leg design has 5 degrees of freedom; 2 in the ankle joint, 1 in the knee joint, and 2 in the hip joint. Because the robot needed to be strong enough to support itself, but light enough to keep it’s agility, we decided to fabricate it out of aluminium parts. We stenciled all the aluminum parts, and screwed them together. The result: a lightweight yet strong solution for the robot leg, with the only major cost being the high power servo’s.
As you can see, the servo’s where used as a structural part of the leg, keeping the used space to a minimum. The reason behind this is to make optimal use of the servo’s strength.
Below you can see a movie of the final leg, kicking 2 golf balls down the room.
After finishing the leg, our part in the building of the robot was done. Other students needed to replicate the already built leg, and create the rest from the hips up. Unfortunately, the project is still unfinished.