ATRIAS 2.1 Handbook

ATRIAS 2.1 is the third physical realization of the ATRIAS concept of an actuated spring mass walking, running and jumping bipedal robot. ATRIAS 2.1 is designed for un-tethered, 3D walking and running over unpredictable, rough terrain while maintaining a reasonably high energy economy. Future work with this robot will be to develop and demonstrate these goals and further scientific knowledge in the field of legged locomotion.

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  ATRIAS 2.1 Handbook

Contents

General Information

1. How to use this WikiBook
2. Location of Parts
3. Operating Instructions
4. Suppliers and Manufacturers
5. Cost of Transport Definition

Technical Specifications

1. Solid Model Specifications
2. Motors
3. Encoders
4. IMU
5. Springs Considerations
6. Toe Cell

Servicing Information

1. Service Data
2. Cleaning
3. Loctite Procedure
4. Torque Specifications
5. Special Tools
6. Wiring Harness Routing

Disassembly

1. Four-Bar Assembly
2. Drive Assembly
3. Torso Assembly
4. Boom Assembly

Assembly

1. Four-Bar Assembly
2. Drive Assembly
3. Torso Assembly
4. Boom Assembly

Electrical

1. Wiring Diagram
2. Medulla Board
3. Menial Board
4. DC-DC Converter Board
5. AMC Amplifier Breakout Board
6. Strain Gauge Digitizer Board

Trouble Shooting

1. Motors
2. Encoders
3. Amplifiers
4. Electrical