Status of the Project

Current Capabilities

Lepta can walk straight, turn, walk in circles or move its body without moving the feet. The robot is controlled using a Bluetooth joy pad, as time of writing only the XBOX One joy pad has been configured.

Lepta can perform the following actions as of time of writing:

• Stand up/Sit down

• Rotate the body without moving the feet (prove of inverse kinematics)

• Walking straight in arbitrary direction with arbitrary speed

• Turning around arbitrary point with arbitrary speed

Planned Features

These are just a few things I intend to implement in the future

Hardware

• Removable Battery (Make it easier)

• Relay to turn off the Servos completely

• Smaller DC/DC converter

• Sensors - LIDAR - IMU - Camera

• …

Software

• Smooth leg motion

• Adjustable leg step height

• Further optimize gait

• Different gait styles

• …