New Dynamixel Bipeds

[Hivemind]

Take a look at this!

http://forums.tribotix.info/forum9/71.html

-Hive

[HarryBotter]

Great job Hive! Are you going to be posting more detail? Are you planning to be at the RoboGames in June?

Harry

[Hivemind]

Thanks a bunch HarryBotter, I have seen a lot of your work and it is very inspiring. Yes, so far I do plan to go to RoboGames, but there is a fair amount of work still to be done as far as programming is concerned. Look for further updates, especially at Tribotix. -I am very eager to hear feedback and questions from others.

I also plan to perfect the lift and throw technique :)

Thanks,
-Hive

[srobot]

Hi Hive,
Its looking good! Are both of them yours?

Thanks
--srobot

PS - I might go to robogames too, with Manoi! Are you taking Thor and Modi?

[HarryBotter]

I am very eager to hear feedback and questions from others.

These bots are really exciting given they are scratch built, the high torque servos and the extra DOF's. Have you got any videos of them in action? Are you hoping to compete in the ROBO-ONE class?

One suggestion that I'm anxious to try myself is to follow Matt Bauer's lead and put a LiPO pack in each foot. That should help with balance by lowering the CG.

Harry

[JonHylands]

Matt has indicated in another thread that putting extra weight in the feet might not be such a good idea:

http://robosavvy.com/modules.php?name=Forums&file=viewtopic&t=851&postdays=0&postorder=asc&start=45

"Yeah, I noticed how much strain is put on the hip servos when Rook's Pawn (v1) lifted his leg. His movements had to be dramatically slowed down or he'd loose his balance on one leg. The extra weight is nice when he was standing in place, but kinda' defetes the purpose of having a walking bi-ped robot. Wink

I'm looking for that happy medium between stability and agility."

- Jon

[HarryBotter]

Matt has indicated in another thread that putting extra weight in the feet might not be such a good idea:


Thanks Jon, I hadn't seen that. The comment about us not having 40 lb feet was funny (but pretty instructive).

I'd guess it might be a bit of a juggling act, I'm sure these humanoid bipeds would benefit from a lower CG just not by adding weight to the extremeties. You may have a good situation with MicroRaptor.

Harry

[Hivemind]

I agree with Matt's last statement about not having the LiPos in the feet. Not only does it make leg movements harder, but also, all of the hard work to get both rotational joints down at the ankle would be dismissed as the joint is moved up with respect to the ground. I find that having my battery near the center of mass works really well at the time being; the robot seems to be able to balance in many different positions.

-Hive

[HappyRobots]

Those bots look stunning! Amazing! Incredible work!

I can't wait to see them at RoboGames!

[Hivemind]

Thanks, I have added some design pictures of the models that I came up with pre-construction of the robot. I have included leg and arm designs as well as the complete robot model design so that one can better picture how it was constructed.

I plan to have video within two weeks -which will include basic functionality of walking, getting up, simple attacks, and other simple movies. Also I plan to have a few original moves to start the robot off with.

Walking certainly is an interesting challenge. Still awaiting the IMU's means that it will take longer to start work on a dynamic walking gait-but that will be the eventual plan. I think that the zmp math should help get a fast gait working and hopefully nice and stable. With the compliance of the DX-117 servos I should also be able to walk over slanted objects- at least I hope :)

I hope you enjoy the update,
-Hive

[Hivemind]

My website (www.FarrellRobotics.com) is finally up an running and I also have a video of the robots (http://www.farrellrobotics.com/FRH_preview.html) in action.

I hope you enjoy!

-Hive

[HarryBotter]

Wow!!! Very impressive, thanks for sharing. Looks to me like you could kick some major butt at RoboGames.:D

Harry

[Hivemind]

Thanks! I am really looking forward to RoboGames, I think it will be a great place to meet others and I'm sure I will have a lot to learn.

The video is now available on YouTube for anyone who is interested:

http://youtube.com/watch?v=glDM6Ang0no

-Hive