trashbot 6, quick video walk through

most of this work has been done over christmas, but only now i found the time to at least do a quick tour around the bot. here are some highlights:

  • arduino nano changed to raspberry pi 2 & wifi
  • moved controller from back to hips
  • added 16 channel i2c servo controller
  • new foot construction adding an additional degree of freedom (DoF)
  • reconstructed legs that are lighter and now take up new batteries
  • power distribution board including i2c current / voltage measurement
  • accelerometer and gyro sensor (i2c) moved to “belly” instead of neck
  • added arms with shoulders (two DoF)
  • changed spine, reduced complexity
  • removed head for now (being redesigned)

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