Prototype "Bent Knee"

This is the "Bent Knee" approach I prototyped. Notice the distinct feature of the the knee motor is set a 45 degree angle normal to the ground. This I believed allows the robot to lift its leg to take a step with out it needing to swing the lower half of the knee out as far in order to progress forward. Also the ankle pitch does not need to rotate to maintain keeping the foot parallel to the ground. The design uses what I defined as stacked axes , which is the pitch and roll are offset from each other in height. Thou being a clever set up of the motors, that was the down fall why we did not go with this design. As a team we decided we wanted all pitch and roll to be fall on the same plane for the hip and ankle motor orientations. Below is closer look into what I described as the Gate motion of this prototype. I guess it is shelved for now but I may want to revamp it for a future candidate.