Thanks Anoni,
The pathfinding software i worked with/on before is really designed for visual plane finding and uses a sequential (reverse kinematic) motion planner to seek available steps.
Basicly, i create a 3d height map in which i search planes of equal height which are within a certain allowed degree of tilt. These planes are locations that the robot can stand on without falling. The motion planner has a set of rules (reverse kinematic) which allow calculations to be made on the current plane (normal walking on the same height), and traversing to a different plane (stepping up or down stairs for example).
The planner basicly starts planning step after step, moving one step "back" if it runs into a dead end.
UPDATE On a designing point of view, i am making progress but running into some issues around the ankle because of the size of the servo's and the amount of joints required down there. I want most of the frame to be made of aluminium sheet because this can be lasercut very cheap, while milling aluminium mounting blacks is expensive.
The upper en lower leg segment both use two 10NM servo,s , basicly giving me 40NM holding torque on a 400mm "arm".Taking into account that this is holding torque i should keep max torque around 30NM.
Torque = pi = rF sin O comes to 75Newton or 7,5Kg when the upper or lower leg is perpendicular to the floor. Right now the leg segments are 34,034mm
3 > 34cm
3 @ 2,7gr/cm
3 = 91gr per segment.
91gr*8 = 728gr of aluminium per leg
153gr*6 = 918gr of MX106T servo's per leg
126gr*2 = 252gr of MX64T servo's per leg
Total = 728gr + 918gr + 252gr = 1898gr or 1.9Kg.
Obviously i am missing some brackets, the aluminium for the feet and hip but still.
1.9 * 2 = 3,8Kg, so that leaves 3,2Kg for that.
So it should be able to stand up straight, from a sitting down position
And it still stand 1 meter tall from feet to hip. Ill do some further torque calculations in Inventor when i finish the design. I have some doubts about how high it can "step" before the servo's give way.