RoboSavvy Forum

Hip Pivot Kit Pictures and Details

2013-06-06T05:10:03+01:00

l3v3rz wrote:
the motions will still work if you add servos, its just not with the hip kit. The motions will still output to the first 16 servos so if the leg config is the same it still walks.

This is true as far as it goes, but really, is this an answer? The HUNO layout will not discover additional servos. The motionbuilder will not allow me to control new servos "in addition to" the standard 16. So what value is it to add a servo you can't control? If there is a way to add additional servos to the HUNO motionbuilder projects, can you share it with me?

Thanks,
DLC

Statistics: Posted by dlc — Thu Jun 06, 2013 5:10 am

Hip Pivot Kit Pictures and Details

2013-06-02T18:41:14+01:00

the motions will still work if you add servos, its just not with the hip kit. The motions will still output to the first 16 servos so if the leg config is the same it still walks.

Statistics: Posted by l3v3rz — Sun Jun 02, 2013 6:41 pm

Hip Pivot Kit Pictures and Details

2013-05-21T21:57:36+01:00

l3v3rz wrote:
I don't blame you. There's been almost no support for hip kit, If you go down that route you're basically custom. I have collected some motion files, but I don't think there's even a standard walk one.

With spare servos use them as head, or may be or gripper. And use Basic program !

But can you add other servos to the 16DOF model with the current motion files and actions? That was exactly what didn't work with the hip servos.

I plan on sticking to the established sensors and servos. I'll use him as a boxing partner for my Bioloid perhaps.

DLC

Statistics: Posted by dlc — Tue May 21, 2013 9:57 pm

Hip Pivot Kit Pictures and Details

2013-05-21T15:53:54+01:00

I don't blame you. There's been almost no support for hip kit, If you go down that route you're basically custom. I have collected some motion files, but I don't think there's even a standard walk one.

With spare servos use them as head, or may be or gripper. And use Basic program !

Statistics: Posted by l3v3rz — Tue May 21, 2013 3:53 pm

18DOF walker? I give up.

2013-05-18T18:32:53+01:00

It has been 3 years since this upgrade was offered, I've been working on getting my 5720T trying to get these servos working with the rest, and failing. I've been unable to get the simplest things to change (like setting the zero pose.) RoboBuilder hasn't updated any of its software since 2009, or firmware since 2010. I don't think they are really supporting this robot. RoboBuilder certainly doesn't support modifications to their released kit. Even one so obvious as this. This is very disappointing.

I am ready to give up. I think that I'll go back to the 16DOF model. It is the only one that the firmware and software supports. Maybe I'll have luck adding or modifying motions with the supported solution, 'cause it hasn't been fun trying to get a "custom" one working.

Have I missed where new software and firmware are hiding? New manuals that actually explain how to use the tools? It isn't in the manual and it isn't on their site (although not being able to read Korean may be hampering my site navigation...)

Regardless, I'm going back to 16DOF, I don't need this level of frustration in my hobby.

DLC

Statistics: Posted by dlc — Sat May 18, 2013 6:32 pm

Hip Pivot Kit Pictures and Details

2011-06-02T21:26:05+01:00

Hii

For hips I follow the original design of robobuilder, leaving the hips servos parallel to the servos WCK Nº 4 and WCK Nº 9 ; also to keep the center of gravity the lowest possible, you can see here

The inclination of the robot is due to the initial position that i have defined, which has few degrees of difference from the original used by robobuiler in each of its basic movements, for this when the walk sequence ends the robot returns to its initial position.

Statistics: Posted by nicolas gomez — Thu Jun 02, 2011 9:26 pm

Hip Pivot Kit Pictures and Details

2011-06-02T04:48:51+01:00

Interesting. My hip servos are canted at an angle, yours are parallel with the ground. I'm curious, why does your biped walk a few steps and then suddenly tilt back?

Thanks,
DLC

Statistics: Posted by dlc — Thu Jun 02, 2011 4:48 am

walk whit Hip Pivot Kit

2011-06-01T14:54:42+01:00

Hi dlc

here is a short video of forward pasive walk, I hope in a couple of weeks to improve it and edit the rest of basic movements

phpBB [media]

Statistics: Posted by nicolas gomez — Wed Jun 01, 2011 2:54 pm

Hip Pivot Kit Pictures and Details

2011-05-26T10:31:27+01:00

Hi dlc

I will try to explain thsi the best I can. i have not worked with extended Robobuilders hand-on myself but have collected a lot of information to share here on the forum.

So here we go:
1) To get your 18DoF model working you first need to put your HUNO in Custom Platform mode. (see the users manual).

2) Next Reprogram the servo IDs on the 2 extra servos to be 16 and 17. Instructions on how to do that are here: http://robosavvy.com/RoboSavvyPages/Rob ... nglish.pdf

3) Open Motion builder
Click New and Choose Platform. CREATOR OTHER

4) Next you need to connect the COMM cable between the PC and the Robot, turn on the Robot and Open the COMM port. Motionbuilder needs to be connected to the Robot in order to work.

5) Click CONFIG
- Add the servos numbers you have (you'd have 0 to 17 I believe: 0-15 are the base ones and then 16 and 17 are the extra ones. You would have configured their ID in point 2)

6) Next Download the motion files available here and extract them to your HDD http://robosavvy.com/RoboSavvyPages/Rob ... Motion.zip

7) in motion Builder, click Motion List and Click Import
Select the various RBM files you extracted in point 5 that are in the folder Creator HUNO and import one by one.

This would give you the base Motion files which you then just need to edit the position for servos 16 and 17 which are the new ones. If you want to start small, just find out in which position the servos are neutral and repeat that position on all frames/motions.

Once everything is complete and ready, use the Robobuilder Download Tool to download your Edited Motion files to the Robot.

Again, make sure the Robot/RBC controller is set in CREATOR OTHER mode (and not Huno). The downloaded motion files can be commanded using buttons 0-9 on the Remote.

I hope this is a good starting point. From here you'd have to develop on your own.

One final note: you may also want to look into using alternative firmwares, A list of them is available on the Wiki http://robosavvy.com/site/index.php?opt ... obobuilder

Also look around here on the forum as there are also other versions of firmwares with different features, mostly developed by forum member l3v3rz.

Regards
Pedro.

Statistics: Posted by PedroR — Thu May 26, 2011 10:31 am

Hip Pivot Kit Pictures and Details

2011-05-25T17:37:51+01:00

PedroR wrote:
Hi dlc

To use more than 16 DoF you can't use the default Robobuilder motion files. (ie the blue buttons on the top of the remote).

You need to put the Robot in Custom Platform mode and program your motions files manually.
The motions will be available on buttons 0-9 (plus a combination of *+0-9 totaling 20 possible recorded motions)

You will need to recreate your motions or alternativelly start with the default motions and add two servos.

I remeber i-Bot posted a tool here on the forum that was capable of modifying existing MTN files to add extra servos.
If you need it I can look around and post some more resources about thsi here.

Another possibility is using an alternative firmware (the ones by l3v3rz). He's done some excellent job and their firmwares support some extra servos (such as grippers).

Regards
Pedro.

Thanks Pedro!

I'd appreciate any help that is available to get me off the ground with this! I didn't realize that by added the extra DOF for the hips I'd be totally leaving behind everything from the original! Even being able to use the remote. I have not looked just yet, but what are the most popular replacements for the IR remote? Obviously it can't be used in any competition where IR is totally unreliable. I have a few options here in the lab, but I'm wondering what everyone else uses in Sumo One type competitions or others!

It looks time to break out the manuals and get ready for some heavy lifting!
Thanks all,
DLC

Statistics: Posted by dlc — Wed May 25, 2011 5:37 pm

Hip Pivot Kit Pictures and Details

2011-05-25T09:36:49+01:00

Hi dlc

To use more than 16 DoF you can't use the default Robobuilder motion files. (ie the blue buttons on the top of the remote).

You need to put the Robot in Custom Platform mode and program your motions files manually.
The motions will be available on buttons 0-9 (plus a combination of *+0-9 totaling 20 possible recorded motions)

You will need to recreate your motions or alternativelly start with the default motions and add two servos.

I remeber i-Bot posted a tool here on the forum that was capable of modifying existing MTN files to add extra servos.
If you need it I can look around and post some more resources about thsi here.

Another possibility is using an alternative firmware (the ones by l3v3rz). He's done some excellent job and their firmwares support some extra servos (such as grippers).

Regards
Pedro.

Statistics: Posted by PedroR — Wed May 25, 2011 9:36 am

Hip Pivot Kit Pictures and Details

2011-05-24T19:15:56+01:00

PedroR wrote:
Hi

I have posted update instructions here http://robosavvy.com/RoboSavvyPages/Rob ... _20DOF.pdf

Specifically in page 2 there is now a chart with servo IDs.

There are other improvements that we have requested.

With regards to the motions, despite having insisted over and over again, I was unable to get a complete set of motion files form Robobuilder.

I was, however, able to get some random motions, which you can get here: http://robosavvy.com/RoboSavvyPages/Rob ... F_HUNO.zip
and more here
http://robosavvy.com/RoboSavvyPages/Rob ... _files.zip

According to Robobuilder,
"For 18 DOF, you remove 2 wCK [use Config menu] and match the wCK ID positions in the MotionBuilder. "

To compile previous information and form what I understand, to set up the Robot with > 16 DOF, you'll need to use MotionBuilder in "Creator Other" mode and put the RBC into Custom Platform mode.

Has anyone yet gotten working 18 DOF files for use with the default IR remote? I've installed these, but now have a robot that I can't use. Creating one from scratch is a heavy lift!

Thanks,
DLC

Statistics: Posted by dlc — Tue May 24, 2011 7:15 pm

Hip Pivot Kit Pictures and Details

2009-06-08T18:48:35+01:00

Hi

I have posted update instructions here http://robosavvy.com/RoboSavvyPages/Rob ... _20DOF.pdf

Specifically in page 2 there is now a chart with servo IDs.

There are other improvements that we have requested.

With regards to the motions, despite having insisted over and over again, I was unable to get a complete set of motion files form Robobuilder.

I was, however, able to get some random motions, which you can get here: http://robosavvy.com/RoboSavvyPages/Rob ... F_HUNO.zip
and more here
http://robosavvy.com/RoboSavvyPages/Rob ... _files.zip

According to Robobuilder,
"For 18 DOF, you remove 2 wCK [use Config menu] and match the wCK ID positions in the MotionBuilder. "

To compile previous information and form what I understand, to set up the Robot with > 16 DOF, you'll need to use MotionBuilder in "Creator Other" mode and put the RBC into Custom Platform mode.

Statistics: Posted by PedroR — Mon Jun 08, 2009 6:48 pm

Hip Pivot Kit Pictures and Details

2009-06-09T14:22:38+01:00

Thanks - all assembled.

http://farm3.static.flickr.com/2439/3605351158_33c53ca3ff.jpg?v=0

Now all I need is some motion files. Have you got yours walking yet ?

cheers

PedroR: how do you get the embedded images?]

Statistics: Posted by l3v3rz — Sun Jun 07, 2009 7:27 pm

Hip Pivot Kit Pictures and Details

2009-06-06T04:27:13+01:00

Until we get the new motion files, the servo numbers are not clear.

The instructions here:
http://robosavvy.com/RoboSavvyPages/Rob ... _20DOF.pdf
seem similar to my arrangement.

I reassigned the two servos 0 and 1 as 16 and 17 respectively. and the two new servos are now 0 and 1 and installed below 16 and 17 respectively. This is based on the idea that the load on the hip rotate servos will be less than the hip side to side.

It is still difficult to judge which servos are the most critical for metal or high torque. I have all high torque in the legs except the last ankle, though that may be mistake now I have gyros fitted, because the ankles seem to be working quite hard.

Your gripper would be 18 and 19.

Statistics: Posted by i-Bot — Sat Jun 06, 2009 4:27 am