ATRIAS 2.1 Handbook

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Atrias-header

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.

General Information[edit]

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

Technical Specifications[edit]

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

Servicing Information[edit]

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

Disassembly[edit]

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

Assembly[edit]

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

Electrical[edit]

  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[edit]

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