RoboSavvy Forum

Progress Report (not really a progress)

2006-07-20T21:02:52+01:00

good!!

Statistics: Posted by uucww — Thu Jul 20, 2006 9:02 pm

Progress Report (not really a progress)

2006-06-17T12:32:29+01:00

roboLucy wrote:
... using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .

Thanks for your reply roboLucy. A new and more powerful and TTL-capable Dynamixel? I'm curious!!

stevo3d wrote:
The walking humanoid looks very good! Could you post a motion file for it?

I share opinion and question

Cheers!
barbar

Statistics: Posted by barbar — Sat Jun 17, 2006 12:32 pm

Progress Report (not really a progress)

2006-06-16T20:26:24+01:00

roboLucy wrote:
http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Ordinary).wmv

Hi roboLucy,

The walking humanoid looks very good! Could you post a motion file for it?

Statistics: Posted by stevo3d — Fri Jun 16, 2006 8:26 pm

Progress Report (not really a progress)

2006-06-16T06:00:10+01:00

barbar wrote:
Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)

Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.

Hi BarBar,

To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.

Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.

we are not recommand to increase voltage because it is very dangerous method.

Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .

Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.

thanks.

Lucy.

[URL]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[URL]

Statistics: Posted by roboLucy — Fri Jun 16, 2006 6:00 am

Progress Report (not really a progress)

2006-06-16T05:54:47+01:00

barbar wrote:
Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)

Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.

Hi BarBar,

To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.

Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.

we are not recommand to increase voltage because it is very dangerous method.

Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .

Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.

thanks.

Lucy.

[img]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[img]

Code:: http://211.238.207.44/~robotis/upgrade/4DOF_biped.wmv

Statistics: Posted by roboLucy — Fri Jun 16, 2006 5:54 am

Progress Report (not really a progress)

2006-06-16T05:54:13+01:00

barbar wrote:
Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)

Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.

Hi BarBar,

To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.

Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.

we are not recommand to increase voltage because it is very dangerous method.

Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .

Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.

thanks.

Lucy.

[img]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[img]

[]http://211.238.207.44/~robotis/upgrade/4DOF_biped.wmv[/code]

Statistics: Posted by roboLucy — Fri Jun 16, 2006 5:54 am

Progress Report (not really a progress)

2006-06-21T02:26:37+01:00

...

Statistics: Posted by roboLucy — Fri Jun 16, 2006 5:53 am

Progress Report (not really a progress)

2006-06-16T06:07:26+01:00

barbar wrote:
Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)

Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.

Hi BarBar,

To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.

Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.

we are not recommand to increase voltage because it is very dangerous method.

Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .

Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.

thanks.

Lucy.

http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Ordinary).wmv

http://211.238.207.44/~robotis/upgrade/4DOF_biped.wmv

Statistics: Posted by roboLucy — Fri Jun 16, 2006 5:50 am

Progress Report (not really a progress)

2006-06-11T14:53:29+01:00

Gil wrote:
Guys...Check this out

Statistics: Posted by barbar — Sun Jun 11, 2006 2:53 pm

Progress Report (not really a progress)

2006-06-08T20:34:20+01:00

Guys...Check this out

Statistics: Posted by Gil — Thu Jun 08, 2006 8:34 pm

Progress Report (not really a progress)

2006-06-01T13:06:02+01:00

@limor: You could have given me the chance to wipe the table before all of them see the mess ... 8O

@Gil: It was a full 0,5 litre beer bottle. But it also worked with a full 1 litre water bottle (robot has to lean more to the back though, when holding it in front of his chest). edited later: plastic bottles.

These are the techspecs of the servos called AX-12:

Weight (g) 55
Gear Reduction Ratio 1/254
Input Voltage (V) at 7V at 10V
Final Max Holding Torque(kgf.cm) 12 (at 7V) 16.5 (at 10V)
Sec/60degree 0.269 (at 7V) 0.196 (at 10V)
Resolution 0.35°
Operating Angle 300°, Endless Turn
Voltage 7V~10V (Recommended voltage: 9.6V)
Max. Current 900mA
Operate Temperature -5 ~ +85??
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Pa
Link (Physical) TTL Level Multi Drop (daisy chain type Connector)
ID 254 ID (0~253)
Communication Speed 7343bps ~ 1 Mbps
Feedback Position, Temperature, Load, Input Voltage, etc.
Material Engineering Plastic

@abbtech: no, sorry! (but I've got the video cam on my shopping list)

Cheers!
barbar

Statistics: Posted by barbar — Thu Jun 01, 2006 1:06 pm

Progress Report (not really a progress)

2006-06-01T12:54:54+01:00

Nice job This is what I call a valuable robot! Got a video of the pour?

Statistics: Posted by abbtech — Thu Jun 01, 2006 12:54 pm

Progress Report (not really a progress)

2006-06-01T12:34:39+01:00

How much force do those motors have and how much does that bottle weigh?

Statistics: Posted by Gil — Thu Jun 01, 2006 12:34 pm

Progress Report (not really a progress)

2006-06-01T09:50:05+01:00

barbar's pictures hit slashdot

Statistics: Posted by limor — Thu Jun 01, 2006 9:50 am

Progress Report (not really a progress)

2006-05-31T15:52:41+01:00

Current of course, Thanks (now you know why I had to quit studying electrical engineering )

Statistics: Posted by barbar — Wed May 31, 2006 3:52 pm