marc-spacerobotics/tiptap

A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research.

TipTap

A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research.

Software

Dependencies

• python >= 3.5
• pybullet
• numpy

A single python library "tiptap.py" is provided to interface to both Simulation and Hardware. Its provides identical function calls on either target, so that you can develop your control algorithms in simulation, and then run the idential script on hardware without any extra work to port your code from simulation to hardware.

To get started, run, and read: software/example_OperatingTipTap.py

If you're not connected to hardware a pybullet simulation will automatically start:

If you are connected to hardware, you'll automatically be able to control the robot.

Components

Please let me know if you find these directions difficult or find mistakes, thank you!

Manufactured Components

• Qty 4. TipTap Motors: https://github.com/DarrenLevine/TipTapMotor

Printed Components

Note: I used the parts/LulzbotMini_TipTap.curaprofile on my lulzbot mini to print all of the parts in esun PLA+.

• Qty 1. parts/BeagleBoneBlue_CaseW_RS485USB-Inner.STL
• Qty 1. parts/BeagleBoneBlue_CaseW_RS485USB-Outer.STL
• Qty 2. parts/DualMotorPCBspacer.STL
• Qty 2. parts/HipPulleyHub-Gear.STL
• Qty 2. parts/HipPulleyHub-PressurePlate.STL
• Qty 4. parts/LowerLeg.STL
• Qty 1. parts/PelvisBracket.STL
• Qty 1. parts/PelvisBracketForServos_WBuckConv.STL
• Qty 2. parts/SwivelPlate.STL
• Qty 2. parts/SwivelPlateMirror.STL
• Qty 2. parts/SwivelPlateServoMount.STL
• Qty 2. parts/SwivelPlateServoMountMirror.STL
• Qty 2. parts/UpperLegGeared-Leg.STL
• Qty 2. parts/UpperLegGeared-PressurePlate.STL
• Qty 2. parts/UpperLegHubGear.STL
• Qty 2. parts/UpperLegOuter.STL

Purchased Components

• Qty 4. 623ZZ 3mm x 10mm x 4mm Shielded Deep Groove Precision Ball Bearing
• Qty 6. MR63ZZ L-630 673ZZ Ball Bearings
• Qty 2. AST 6706-2RS Thin Section Bearing
• Qty 2. MG92B servos
• Qty 2. BESTORQ 300-3M-6 3M Timing Belt
• Qty 1. BeagleBone Blue (BBB)
• Qty 1. LM2596 Buck Converter (set to output ~7.4v for the BBB)
• Qty 1. Mini Micro ZH 1.5 3-Pin JST Connector (to connect LM2596 to BBB)
• Qty 1. JBtek USB to RS485 Converter Adapter ch340T
• Qty 1. UCEC Short SuperSpeed USB 3.0 Extension Cable - Left/Right angle
• Qty 4. uxcell 304 Stainless Steel Dowel Pin 3mmx30mm
• Qty 2. uxcell 304 Stainless Steel Dowel Pin 3mmx10mm
• Qty 2. Rubber vacuum cap 1/4" Tube OD, 1-1/4" Long
• Qty 4. M3x8mm Nylon bolt and nut
• Qty ~200. 96817A156 Thread Forming Screw for Thin Plastic
• Qty ~6. Mini zip ties
• Qty ~. Your preference for connectors and wires, I used 7 XT30U connectors with 18AWG silicon wires for power

Recommended Support Components

• ~24V Power: A benchtop power supply, lipos, or a 24V ~10A power adapter.
• A soldering station, some spare silicon wire, wire cutters, strippers, and snips
• A T6 torx screwdriver for the 96817A156 screws
• A phillips screwdriver for the nylon bolts
• Superglue or epoxy to fix the knee joint 3mmx30mm pins in place

Pictures / Assembly References