Have you tried reducing the shock to the servos? You might try moving the legs at slower speeds, putting shock absorbing pads on the bot feet, making the legs out of more flexible materials, or detecting when the leg contacts the ground and stopping leg motion at that time.
Hi, I made a lot of experiments to optimize the shock to the servos;
The speed of the legs, in some cases, must to be fast, or better, I prefer fast; My quadruped has various walk modes, including a fast walk that need fast legs movements; or trot mode that need just max speed legs going up and down for half of trot steps movement.
As you advising, the feet of my robot already has a shock abosorb system, in fact the foot is mounted in a side of a piston and that piston can travel inside a oiled cylinder for 1cm. That is a basic but good shock absorber tecnique but I need something over that, something can help ALL the servos of the single leg (3 servos).
Using flexible materials is a test I already made but the weight of the robot force me to use a solid iron arm and an alluminium forearm.
The forearm in fact is just just just ok about solidity. If I should choose a softer material so the weight of the robot will deform the forearm joint point (the point where the forearm is attached to the forearm servo).
About the detecting of the ground yeah! already made using 4 tactile sensors :) So the sensor (mounted on the foot) will stop (or better, will modify the movement steps) the walk/run/trot movement when a contact with the ground happen!
But jumps, or little falls (due to bad/rocks terrain shape or for a lot of possible circumstances) need a shock abosorb system more advanced.
So the servo saver seems to be something I can't avoid to use for sure!
Thank you for your advice! If you have other advices PLEASE tell me!
That's exactly what I thought when I came across them!
Thinking of your quad project it would probably mean a re-design, perhaps placing the motors in the body then driving the leg-sections via toothed belt. This would lessen the 'unsprung' weight and reduce the inertia in the legs during motion. Just thoughts, I don't know the design intent so this may not be practical.
yes, if I will to use these motors so I must to change all the shoulder/armpit/basin/groin/arm/forearm configuration!
This long restyle time needed to make this work start to make me consider the way to continue to use servos+ servo savers.
There are thousand of things I would to make/try but I need to consider my free time/money :(
But REALLY thanks for your advices and considerations! before or later I will try these motors!