Achieving walking through foot widening with rigid hips and ankles?

[alexpenney404]

Hello all I'm wondering if walking could be achieved simply by making the feet extend inward with overlapping prongs, similar to wind-up bipedal toys. The hips would have to be rigid instead of hinged.

Obviously the only way to know for sure is to try, but in your estimation would the legs be capable of individually bearing the weight of the whole assembly in this configuration?

I think it would be neat to be able to preserve the three-motor-per-leg count while allowing for bipedal motion.

[danic85]

Hi! Yes the leg on the buddy release has been designed specifically to allow support of the weight of the entire build on one leg so that we could try approaches like this, if you test it out I'd love to see the result!
If you want to test the leg strength, you can retract one leg in code and support the robot's lateral balance manually, so it's a simple enough test before you get started on changing the feet.