RoboSavvy Forum

Bioloid & Robotis • Re: Customised (Nameless) Bioloid

2017-12-17T12:42:02+01:00

It has been ages, but if people are still interested you can follow the progress since this last post here:
https://dxydas.com/category/robotics/bioloid-project/

Some new points:
[*] ROS and MoveIt! integration
[*] AX-12 position controller compatible with ROS
[*] Skeleton interface with Gazebo
[*] Custom servo interface written in Qt (C++)
[*] Additional sensors and electronics

Statistics: Posted by Dimitris — Sun Dec 17, 2017 12:42 pm

Bioloid & Robotis • Even Pose Type A not working

2017-02-20T15:57:05+01:00

Hello, I own a Bioloid Premium Robot (CM-530). Which WAS ALREADY WALKING BEFORE. But after some months of brake (and a fall from the table) it does not do anything anymore. Better said. When I start it up, it tries to get into the TYPE A pose, but this does not work. He looks quite twisted then. I know this means, that the servo are no attached in the right starting position in this case usually. But the weird thing is, that they were before. And the robot was not build apart.
Also the "Check Assembly Mode" is also not working. ( Asuming, that after you start him up you select Play > Start > U or in case I am wrong also tried select Manage > Start > U. Both not working)
Made an Firmware update using RoboPlus Manager 1.0.34.1
Controller Firmware V 1.1982
Any help is highly appreciated. Even if there is just a web adress, where to order a new CM-530 controller. Thank you!

Statistics: Posted by MarkusP — Mon Feb 20, 2017 3:57 pm

Bioloid & Robotis • Problem Havimo + gyro bioloid

2017-02-01T01:53:55+01:00

Hello everyone
I use the premium Bioloid with Havimo and gyro-controlled by CM-510.
But the havimo camera no longer detects anything when I use it at the same time as the gyro.
I do not know what the solution is.
Is there another way?
Thank you in advance.

https://hostr.co/13Jt3ZY2IKQc

traduction google

Statistics: Posted by torne — Wed Feb 01, 2017 1:53 am

Bioloid & Robotis • Problems with obtaining a status packet

2016-07-13T15:05:56+01:00

Hi,

I doing a project with Altera DE2 board (VHDL) meant for communicating with the Bioloid robot. Right now I am using a single AX-12 servo to check sending commands and receiving a status packet. The diagram is attached.

I have succeeded in sending it a command and am now trying to receive a status packet from the servo. It is done by sending the packets received from the AX-12 to a UART_RX module (lower left) that transforms it to a parallel bus, and from there to a module (lower middle) that separates each packet so that I know what is the ID of the servo, and the errors (the only packets I truly care about and need to know). The ID and error buses go directly to LEDs on the board.

I'm sending a few different commands, among them the PING instruction, and none of the LEDs power on.
I believe it could be due to two different reasons (though if you find any other possible explanation I would love to hear it):
1. A problem with the UART_RX module. I don't think it's the problem because I've tested it before and it worked fine.
2. The return delay time. I'm not sure what I'm supposed to do with it, and what it is.

So, about the return delay time...
1. what is the default value? 160us? I've sent the AX-12 a command to reset (which I know worked because the ID changed to 0) so I believe the delay time is now 160us.
2. I have a pin called direction, which goes to a buffer (both the buffer you see in the diagram and an outside buffer chip, as instructed in the AX-12 datasheet). When am I supposed to change it? Right after I'm done sending the command? wait for a few micro seconds?
3. When am I supposed to start receiving the data from the servo? When the delay return time is over?

If you have any other suggestions or comments I would love to hear them. Thanks!

Statistics: Posted by nettek — Wed Jul 13, 2016 3:05 pm

Bioloid & Robotis • Darwin Mini and Raspberry Pi : call for contributions

2016-06-24T22:44:08+01:00

Video: https://www.youtube.com/watch?v=TkoLh1o-qhk

You already know this $500 small brother of Darwin OP, also 3D printable, published two years ago. I've waited for a long time but nobody tried the experience: I would give to Darwin Mini a motherboard under Linux, to bring him intelligence, full autonomous behaviours, robots cooperation, visual recognition and more.

According to me, it miss some key features:
- a Raspberry Pi (because of the community and available ressources) for connected applications, intelligence, autonomy, vision etc
- a Pi camera module (hardware accelerated) in the head (for direction)
- one or two microphones (on arms for directional analysis ? only one in the chest ?)
- a speaker (Text To Speech, choregraphy...)
- an IMU (accelerometer, gyroscop, magnetometer, compass...) in the chest (for stability and precision)
- two hands, to grab objects, climb, or anything else

I wish to find people to brainstorm about these features, share ideas and then build the necessary 3D model parts.

For example, we can use Darwin OP hands as model (middle picture):

My skills are mainly IT development, I made a little OpenSCAD but I don't know to use either SolidWorks neither FreeCAD, that's why I need your help! I've created a topic on the Poppy project forum because I'm convinced their framework is designed for Dinamixels motors programmation.

The Poppy project is creating an ecosystem similar to Nao, in Free Softwares, adapted to every robot using Dynamixels servos, through their Python library Pypot. Poppy Humanoid is the most famous robot from this project, but the framework allow to easily define a custom robot called a Creature.

However, my only goal for now is to find the most adapted motor driver, a good Raspberry Pi version and design the new 3D parts on the Darwin Mini. You're free to join the thread on the other forum or to share your ideas here. Once this robot will have a embedded Linux, everyone will be free to program as he wish.

Statistics: Posted by Vincent14 — Fri Jun 24, 2016 10:44 pm

Bioloid & Robotis • AX-12A and AX-18A Holding and moving maximum torque

2016-05-06T15:08:19+01:00

Hi,

While testing the XYZ A1-16 servos (check this other topic) we took the opportunity to check what's the maximum holding and moving torque for the ROBOTIS Dynamixel AX-12A and AX-18A.

Tests were performed screwing the servo to a MDF board with a 10cm arm that would secure a weight. We would then add increments of about 33g and see in the holding test when the servo turns off and on the moving test if it would be able to still move the weight UP.

Code:: +------------------------------------+-------------+-------------+ | | AX-12 | AX-18 | +------------------------------------+-------------+-------------+ | Specs Stall torque | 1.5 Nm | 1.8 Nm | | Measured maximum stall torque | 1.82 Nm | 2.55 Nm | | Measured maximum moving torque | 0.66 Nm | 0.95 Nm | +------------------------------------+-------------+-------------+

It seems that the stall torque is a bit more than what we were expecting.

Were you expecting this results? What other tests would you like us to do?

Statistics: Posted by nunogato — Fri May 06, 2016 3:08 pm

Bioloid & Robotis • Need help! Rx64 not working

2016-03-13T05:05:52+01:00

Homemade atmega328p,max485 to drive rx64.

I want to Power up the servo and run the simplest program turning the LED on and off but not working.
I don't know how to troubleshoot it.

I have already checked Voltage It may be ok (18v) . but The motor blinks so long times(6 sec) when powered up.
i was check baudrate and ID by USB2DYNAMIXEL .
baud 500000,Id:3

My program

Code:: #include #include #include #include #include #define F_CPU 16000000UL void Init_Serial(unsigned int baudrate); void put_command(uint8_t c,FILE *stream); unsigned int p; static FILE uart_str=FDEV_SETUP_STREAM(put_command,NULL,_FDEV_SETUP_WRITE); void delay_ms(unsigned int i) { for(;i>0;i--) { _delay_ms(1); } } void put_command(uint8_t c,FILE *stream) { while(!(UCSR0A & (1< UDR0 = c; while ( ( UCSR0A & TXC0 ) != 0 ) ; } static void USART_Init(unsigned int baud) { UBRR0H = (unsigned char)(baud>>8); UBRR0L = (unsigned char)baud; UCSR0B |= (1< UCSR0C |= (0< stdout=&uart_str; } static void Motor_LED_ON() { fputc(0xFF,&uart_str); fputc(0xFF,&uart_str); fputc(0xFE,&uart_str); fputc(0x04,&uart_str); fputc(0x03,&uart_str); fputc(0x19,&uart_str); fputc(0x01,&uart_str); fputc(0xE0,&uart_str); } int main(void) { DDRC = 0x0C; USART_Init(1); while(1) { delay_ms(500); sbi(PORTC,3); sbi(PORTD,2); // enable txd disable rxd UCSR0B |= (1< cli(); delay_ms(5); Motor_LED_ON(); delay_ms(3); cbi(PORTD,2); // enable rxd disable txd UCSR0B |= (0< sei(); delay_ms(500); } return 0; } ISR(USART_RX_vect) { while ( !(UCSR0A & (1< if(UDR0 == 0x03){ sbi(PORTC,2); delay_ms(300); } return; }

i follow circuit from rx64 datasheet

Can someone advice me plz

Statistics: Posted by kakashimaru2 — Sun Mar 13, 2016 5:05 am

Bioloid & Robotis • Bioloid premium - cm-530 problem

2016-03-03T14:32:04+01:00

Hello , today i tried to run my Bioloid premium type a robot and it didn't work and a sound come out : https://youtu.be/qOMw85ZcuOE

when i open ROBOPLUS Manager 2 of my 18 servos are market as unknown :

Statistics: Posted by ferfouch — Thu Mar 03, 2016 2:32 pm

Bioloid & Robotis • Re: Storage Precautions for Robotis LiPo batteries

2016-02-20T19:43:09+01:00

there are even special bags on sale.

http://www.banggood.com/Wholesale-Model ... 65850.html

Statistics: Posted by nomad — Sat Feb 20, 2016 7:43 pm

Bioloid & Robotis • Re: Help with Motion Offset & Win 10 Connection

2016-02-20T19:13:00+01:00

hi do you see only one com port?
for the zero offset,i unscrew all the horn then initialize and save

Statistics: Posted by nomad — Sat Feb 20, 2016 7:13 pm

Bioloid & Robotis • selling type A

2016-02-20T09:32:27+01:00

hi avery one.i have two for bioloids for sale ,they are in in good working condition.type A.
i have only one usb dynamixel.the other get an extra cm-530+cm-510.
also i have complete white frame with ir sensors and color sensors,wires for batt.

if interested patrick.dierckx7@telenet.be

i sell cheap thanks

Statistics: Posted by nomad — Sat Feb 20, 2016 9:32 am

Bioloid & Robotis • Help with Motion Offset & Win 10 Connection

2016-01-28T00:27:00+01:00

Hello everyone,

Having recently reconstructed my bioloid premium type A humanoid I noticed that it's walking stability was never what it once was. Even though it was never perfect it could walk forwards and turn on my smooth wooden floor however it had trouble going backwards and it was always extremely wobbly. Now however it can't take more than 2-3 steps in any direction before it falls. I've heard about something called zero positioning/motion offset or something and I think I've found how to fix it here: http://support.robotis.com/en/software/ ... offset.htm

However when I go to connect my bioloid to my PC I have 3 options:

Com1: No controller found
Auto Searching: No controller found
TCP/IP: (Not Responding)

I am currently running windows 10 and have not updated my bioloid software since I was on windows 7.

Help me anyone?

Statistics: Posted by Elzito — Thu Jan 28, 2016 12:27 am

Bioloid & Robotis • humanoid robot SUPER SJ01 made in Taiwan

2016-01-21T09:40:58+01:00

This is my latest robot "super SJ_01". It has fifteen servo with 35 kg-cm maximum torque(DMP RS 1270 made in Taiwan). The structure is made up by aluminum 6061 and PLA( with 3D printing). Total weight is about 2100 gram, and height is 430 mm.

phpBB [media]

Statistics: Posted by monster0299 — Thu Jan 21, 2016 9:40 am

Bioloid & Robotis • Re: How to launch a piece of code periodically?

2015-12-18T01:10:02+01:00

For clarification: I'm interested in knowing how to get the claw to move every 15 seconds WHILE the main code is running (the one that gets the car moving and avoiding obstacles using sensor readings). In other words, how do I get the claw-moving code to launch at set intervals while the car-movement code is also running at the same time?

The closest I've come to finding out how to get it to work is using the CALLBACK function, but I believe that function does not support such a difficult task?

Statistics: Posted by chewws — Fri Dec 18, 2015 1:10 am

Bioloid & Robotis • Re: How to launch a piece of code periodically?

2015-12-17T18:16:22+01:00

Are you using RoboPlus Task?

If so, I would follow the tutorials for understanding how it all works.
Then you can implement your loop or condition for operating the claw.

http://support.robotis.com/en/product/bioloid/comprehensivekit/bioloid_comp_tutorial.htm

Statistics: Posted by vmatos — Thu Dec 17, 2015 6:16 pm