[<< wikibooks] 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.


== General Information ==
How to use this WikiBooks
Location of Parts
Operating Instructions
Suppliers and Manufacturers
Cost of Transport Definition


== Technical Specifications ==
Solid Model Specifications
Motors
Encoders
IMU
Springs Considerations
Toe Cell


== Servicing Information ==
Service Data
Cleaning
Loctite Procedure
Torque Specifications
Special Tools
Wiring Harness Routing


== Disassembly ==
Four-Bar Assembly
Drive Assembly
Torso Assembly
Boom Assembly


== Assembly ==
Four-Bar Assembly
Drive Assembly
Torso Assembly
Boom Assembly


== Electrical ==
Wiring Diagram
Medulla Board
Menial Board
DC-DC Converter Board
AMC Amplifier Breakout Board
Strain Gauge Digitizer Board


== Trouble Shooting ==
Motors
Encoders
Amplifiers
Electrical