RoboSavvy Forum

Hip rotation.. work in progress

2008-05-30T19:54:43+01:00

Sorry its taking me so long.

These are my basic turn routines:

Code:: left_hip_turn: SPEED 5 'Move mass to left foot GOSUB left_shift1 'Lift right leg and twist hip 30 degrees MOVE G6A, 92, 65, 110, 125, 118, 70 MOVE G6D,113, 76, 145, 94, 92, 100 MOVE G6B,100, 46, 80, 100, 100, MOVE G6C,100, 50, 80, 100, 100, WAIT 'Place right leg back on floor MOVE G6A, 99, 64, 145, 108, 103, 70 MOVE G6D, 99, 76, 145, 95, 101, 100 MOVE G6B,100, 46, 80, 100, 100, MOVE G6C,100, 50, 80, 100, 100, 'WAIT 'Move mass to right leg?? MOVE G6A,112, 70, 145, 120, 84, 70 MOVE G6B,102, 55, 80, 101, 100, MOVE G6C,103, 38, 81, 101, , MOVE G6D, 86, 84, 124, 108, 118, 100 WAIT MOVE G6A,112, 70, 145, 110, 84, 100 MOVE G6B,102, 55, 80, 101, 100, MOVE G6C,103, 38, 81, 101, , MOVE G6D, 86, 84, 124, 108, 120, 100 WAIT ' 'Lift left leg and twist hip back MOVE G6A,112, 69, 148, 98, 96, 100 MOVE G6D, 81, 74, 128, 112, 113, 100 MOVE G6C,109, 40, 83, 103, 100, MOVE G6B,106, 40, 80, 101, 100, 'Place left leg on floor GOSUB standard_pose RETURN right_hip_turn: SPEED 5 'Move mass to right foot GOSUB right_shift1 'Lift left leg and twist hip 30 degrees MOVE G6D, 92, 65, 110, 125, 118, 130 MOVE G6A,113, 76, 145, 94, 92, 100 MOVE G6C,100, 46, 80, 100, 100, MOVE G6B,100, 50, 80, 100, 100, WAIT 'Place left leg back on floor MOVE G6D, 99, 64, 145, 108, 103, 130 MOVE G6A, 99, 76, 145, 95, 101, 100 MOVE G6C,100, 46, 80, 100, 100, MOVE G6B,100, 50, 80, 100, 100, 'WAIT 'Move mass to left leg?? MOVE G6D,112, 70, 145, 120, 84, 130 MOVE G6A, 86, 84, 124, 108, 118, 100 MOVE G6C,102, 55, 80, 101, , MOVE G6B,103, 38, 81, 101, , WAIT MOVE G6D,112, 70, 145, 110, 84, 100 MOVE G6A, 86, 84, 124, 108, 120, 100 MOVE G6C,102, 55, 80, 101, , MOVE G6B,103, 38, 81, 101, , WAIT 'Lift right leg and twist hip back MOVE G6D,112, 69, 148, 98, 96, 100 MOVE G6A, 81, 74, 128, 112, 113, 100 MOVE G6C,109, 40, 83, 103, 100, MOVE G6B,106, 40, 80, 101, 100, 'Place right leg on floor GOSUB standard_pose RETURN

I hope to write something more advanced, and useful, this is just a start....

Statistics: Posted by NovaOne — Fri May 30, 2008 7:54 pm

Hip rotation.. work in progress

2008-03-21T07:40:01+01:00

Hi grisuzone

The patches on the knees and elbows are either rubber or felt pads, to absorb some of the shock of falling over. I used to use all rubber pads, but the lower fraction of felt impedes some movements less than rubber pads.

Hi bauermech

It always fascinating to see your progress, Rooks Pawn is what I would refer to as Awesome Good luck,
PS Shouldn't you be at ROBO-ONE 13 with Rooks Pawn 4

Any how, these are the routines I have modified so far:

Code:: foot_up: 'move mass to right foot SPEED 5 MOVE G6A, 85, 71, 152, 91, 112, 100, MOVE G6D, 112, 76, 145, 93, 92, 100, MOVE G6B, 100, 50, 80, , , , MOVE G6C, 100, 30, 80, , , , WAIT 'partial lift left foot MOVE G6A, 90, 98, 105, 115, 115, 100, MOVE G6D, 116, 74, 145, 98, 93, 100, 'arms up MOVE G6C, 100, 105, 100, , , , MOVE G6B, 100, 95, 100, , , , WAIT 'lift leg fully MOVE G6A, 100, 151, 23, 140, 115, 100, WAIT DELAY 2500 'delay as long as you like 'lower leg MOVE G6A, 85, 71, 152, 91, 112, 100, MOVE G6D, 112, 76, 145, 93, 92, 100, WAIT RETURN body_move2: MOVE G6D,110, 92, 124, 97, 93, 100 MOVE G6A, 76, 72, 160, 82, 128, 100 MOVE G6B,100, 50, 90, , , , MOVE G6C,100, 30, 90, , , , WAIT RETURN '================================================ body_move1: MOVE G6A, 85, 71, 152, 91, 112, 100 MOVE G6D,112, 76, 145, 93, 92, 100 MOVE G6B,100, 50, 80, , , , MOVE G6C,100, 30, 80, , , , WAIT RETURN wing_move: DIM i AS BYTE SPEED 5 MOVE G6A, 85, 71, 152, 91, 112, 100 MOVE G6D,112, 76, 145, 93, 92, 100 MOVE G6B,100, 55, 80, , , , MOVE G6C,100, 35, 80, , , , WAIT MOVE G6A, 90, 98, 105, 115, 115, 100 MOVE G6D,116, 74, 145, 98, 93, 100 MOVE G6B,100, 150, 150, 100, 100, 100 MOVE G6C,100, 150, 150, 100, 100, 100 WAIT MOVE G6A, 90, 121, 36, 105, 115, 100 MOVE G6D,116, 60, 146, 138, 93, 100 MOVE G6B,100, 150, 150, 100, 100, 100 MOVE G6C,100, 150, 150, 100, 100, 100 WAIT MOVE G6A, 90, 98, 105, 64, 115, 100 MOVE G6D,116, 50, 155, 160, 93, 100 MOVE G6B,145, 110, 110, 100, 100, 100 MOVE G6C,145, 110, 110, 100, 100, 100 WAIT FOR i = 10 TO 15 SPEED i MOVE G6B,145, 80, 80, 100, 100, 100 MOVE G6C,145, 80, 80, 100, 100, 100 WAIT MOVE G6B,145, 120, 120, 100, 100, 100 MOVE G6C,145, 120, 120, 100, 100, 100 WAIT NEXT i DELAY 1000 SPEED 4 MOVE G6A, 90, 98, 105, 64, 115, 100 MOVE G6D,116, 50, 155, 160, 93, 100 MOVE G6B,145, 160, 180, 100, 100, 100 MOVE G6C,145, 160, 180, 100, 100, 100 WAIT MOVE G6A, 90, 121, 36, 105, 115, 100 MOVE G6D,116, 60, 146, 138, 93, 100 MOVE G6B,100, 150, 150, 100, 100, 100 MOVE G6C,100, 150, 150, 100, 100, 100 WAIT MOVE G6A, 90, 98, 105, 115, 115, 100 MOVE G6D,116, 74, 145, 98, 93, 100 WAIT MOVE G6A, 85, 71, 152, 91, 112, 100 MOVE G6D,112, 76, 145, 93, 92, 100 MOVE G6B,100, 55, 80, , , , MOVE G6C,100, 35, 80, , , , WAIT RETURN left_turn: SPEED 6 MOVE G6D, 85, 71, 152, 91, 112, 100 MOVE G6A, 112, 76, 145, 93, 92, 100 MOVE G6C, 100, 55, 80, , , , MOVE G6B, 100, 35, 80, , , , WAIT SPEED 9 MOVE G6A, 113, 75, 145, 97, 93, 100 MOVE G6D, 90, 50, 157, 115, 112, 100 MOVE G6B, 105, 35, 70, , , , MOVE G6C, 90, 55, 70, , , , WAIT MOVE G6A, 108, 78, 145, 98, 93, 100 MOVE G6D, 95, 43, 169, 110, 110, 100 MOVE G6B, 105, 35, 70, , , , MOVE G6C, 80, 55, 70, , , , WAIT RETURN '================================================ '================================================ right_turn: SPEED 6 MOVE G6A, 85, 71, 152, 91, 112, 100 MOVE G6D, 112, 76, 145, 93, 92, 100 MOVE G6B, 100, 55, 80, , , , MOVE G6C, 100, 35, 80, , , , WAIT SPEED 9 MOVE G6D, 113, 75, 145, 97, 93, 100 MOVE G6A, 90, 50, 157, 115, 112, 100 MOVE G6C, 105, 35, 70, , , , MOVE G6B, 90, 55, 70, , , , WAIT MOVE G6D, 108, 78, 145, 98, 93, 100 MOVE G6A, 95, 43, 169, 110, 110, 100 MOVE G6C, 105, 35, 70, , , , MOVE G6B, 80, 55, 70, , , , WAIT RETURN left_shift1: MOVE G6A, 85, 71, 152, 91, 112, 100 MOVE G6D, 112, 76, 145, 93, 92, 100 MOVE G6B, 100, 65, 80, , , , MOVE G6C, 100, 35, 80, , , , WAIT RETURN '--------------------------- left_shift2: MOVE G6D, 110, 92, 124, 97, 93, 100 MOVE G6A, 76, 72, 160, 82, 128, 100 MOVE G6B, 100, 35, 90, , , , MOVE G6C, 100, 35, 90, , , , WAIT RETURN '--------------------------- left_shift3: MOVE G6A, 93, 76, 145, 94, 109, 100, MOVE G6D, 93, 76, 145, 94, 109, 100, MOVE G6B, 100, 35, 90, , , , MOVE G6C, 100, 35, 90, , , , WAIT RETURN '--------------------------- left_shift4: MOVE G6A, 110, 92, 124, 97, 93, 100 MOVE G6D, 76, 72, 160, 82, 128, 100 MOVE G6B, 100, 35, 90, , , MOVE G6C, 100, 65, 90, , , WAIT RETURN '--------------------------- left_shift5: MOVE G6D, 86, 83, 135, 97, 114, 100 MOVE G6A, 113, 78, 145, 93, 93, 100 MOVE G6C, 100, 65, 80, , , MOVE G6B, 100, 35, 80, , , WAIT RETURN '--------------------------- left_shift6: MOVE G6D, 85, 71, 152, 91, 112, 100 MOVE G6A, 112, 76, 145, 93, 92, 100 MOVE G6C, 100, 65, 80, , , MOVE G6B, 100, 35, 80, , , WAIT RETURN

I haven't made any major changes just slowed a few down and added some more arm movements....
(Sorry my lack of skill at teaching RN moves is beginning to show....Oh well ...I'd better get more practice them...what this space
This leaves the most difficult moves to fix:

fast_run01
fast_run02
fast_run03
forward_walk
backward_walk1
backward_walk2
backward_walk9
backward_walk7
backward_walk6
backward_walk5
backward_walk3
left_attack1
right_attack1
left_forward
right_forward

Then of course, the proper hip turn walking and attack moves still to program.........

PS sorry (in advance) if you try some of these moves on a standard RN, and you feel I have wrecked them compared to the originals

Statistics: Posted by NovaOne — Fri Mar 21, 2008 7:40 am

Hip rotation.. work in progress

2008-03-20T23:40:49+01:00

Awesome!
Yes, I too can't wait to see the vids... I'll be patient though. I know all about long lists and how tough it is to make time for everything on them.

Statistics: Posted by bauermech — Thu Mar 20, 2008 11:40 pm

Hip rotation.. work in progress

2008-03-20T16:33:32+01:00

Hi NOVAONE
to thing they serve what those patches are on the shoulders and on the servants of the legs?

Statistics: Posted by grisuzone — Thu Mar 20, 2008 4:33 pm

Hip rotation.. work in progress

2008-03-20T08:51:27+01:00

Can he still move his legs up sideways (jumping jack style)?

Yes, this move is completely unaffected, also he can still get up after falling on his back; the back of the heels just tap the new servos (luckily).

Why are you not using lipo instead of this big and heavy battery pack ?

I intend to use a lipo pack in the future, but it sort of at the bottom of my ever growing list However I think the Hip mod takes priority.
I've made a new resolution, ie, to finish the mods i've started before I start any more. Unfortunately this list of unfinished projects has gotten embarrassingly large:

1.Hip rotation (will make task number 4 easier.)
2.Propeller uOLED graphical display of RN I2c and SPI sensors
3.Real-time calculation and display of centre of mass based on foot sensors
4."Improved" walking based on analogue joysticks and/or compass
5.Fully autonomous stair climb and descend
6.Stereo vision.... ( i'd be happy with any basic working vision system)
7.Useful binaural hearing

How many Sunday afternoons these might take me is anyones guess.
+ Ideas....as yet not started:

8.Gumstix wifi web page control from Nokia N770
9 Use the Gumstix the master controller to implement a more advanced closed loop using a Propeller and IMU and Centre of mass data....
10. lipo pack and 6.8v regulator.

PS
Voelker, this big heavy battery pack is currently a good counter balance for the servos

.. along with Rooks Pawn must now be one of the one of the most modded RoboNovas on the internet.

Thanks Bill, it was seeing the first incarnation of rooks pawn that made me decide on buying the RN kit in the first place, maybe when all the mods are working, I'll feel more deserving of your complement.

Statistics: Posted by NovaOne — Thu Mar 20, 2008 8:51 am

Hip rotation.. work in progress

2008-03-19T22:33:40+01:00

Looks great - along with Rooks Pawn must now be one of the one of the most modded RoboNovas on the internet.

Statistics: Posted by BillB — Wed Mar 19, 2008 10:33 pm

Hip rotation.. work in progress

2008-03-19T20:43:56+01:00

Why are you not using lipo instead of this big and heavy battery pack ?

Statistics: Posted by Voelker — Wed Mar 19, 2008 8:43 pm

Hip rotation.. work in progress

2008-03-19T17:21:02+01:00

Hi,

Another question . Can he still move his legs up sideways (jumping jack style)? Are the extra motors mounted to his back using thrust bearings as well?

Statistics: Posted by tum — Wed Mar 19, 2008 5:21 pm

Hip rotation.. work in progress

2008-03-19T16:40:48+01:00

Great job NovaOne! You should update your avatar, this looks even nicer!

Statistics: Posted by JavaRN — Wed Mar 19, 2008 4:40 pm

Hip rotation.. work in progress

2008-03-19T07:15:03+01:00

do the mods make give him a fat looking ass?

Yes But, for the female robots out there, its very firm and defined

I also had to mount a flat version of the battery (5 pack) on the front, so "he" has a larger (but muscular) "tum" as well:

Statistics: Posted by NovaOne — Wed Mar 19, 2008 7:15 am

Hip rotation.. work in progress

2008-03-19T02:01:14+01:00

I look forward to the diagrams.

BTW, do the mods make give him a fat looking ass?

Statistics: Posted by tum — Wed Mar 19, 2008 2:01 am

Hip rotation.. work in progress

2008-04-20T08:43:40+01:00

I was wondering where you bought the right angled rods

From my local model shop, they are ball joint linkages: Multiplex part number #71 3860 ....a bit overkill really.

I made/adapted the rest of the brackets myself. I promise to post drawings when i have more time.

Statistics: Posted by NovaOne — Tue Mar 18, 2008 11:04 pm

Hip rotation.. work in progress

2008-03-18T11:44:45+01:00

Hi

I was wondering where you bought the right angled rods, the black adjustable horn and the thrust bearings (pretty much all the parts you used ).

Thanks.

Statistics: Posted by tum — Tue Mar 18, 2008 11:44 am

Hip rotation.. work in progress

2008-03-15T01:35:31+01:00

Very cool ! I cant wait to see the video

Statistics: Posted by Droid Works — Sat Mar 15, 2008 1:35 am

Hip rotation.. work in progress

2008-03-14T20:56:05+01:00

Thanks i-Bot, your knowledge and advice is invaluable as ever. I have dropped all my other silly mods to focus on tweaking the affected routines (and gradually documenting the changes I make here).

The offending moves are:
foot_up
body_move1
body_move2
wing_move
fast_run01
fast_run02
fast_run03
left_turn
right_turn
forward_walk
left_shift1
left_shift2
left_shift4
left_shift5
left_shift6
right_shift1
right_shift2
right_shift4
right_shift5
right_shift6
backward_walk1
backward_walk2
backward_walk9
backward_walk7
backward_walk6
backward_walk5
backward_walk3
left_attack1
right_attack1
left_forward
right_forward

Statistics: Posted by NovaOne — Fri Mar 14, 2008 8:56 pm