RoboSavvy Forum

Giger - EX-106+ Custom Humanoid

2011-05-12T17:10:49+01:00

Here are some updated pictures. I've since actually replaced the airsoft guns with custom built, lasercut versions.

Video:

phpBB [media]

Statistics: Posted by Tyberius — Thu May 12, 2011 5:10 pm

Giger - EX-106+ Custom Humanoid

2011-01-11T20:51:51+01:00

Long time no update! I've shifted a lot of my focus on this project over towards competition. I took Giger to Korea twice in 2010 for Kung Fu competitions, but also wanted a platform for Mech Warfare. Here are the two variants I used in Korea, one with RX-28 arms and the other with upgraded RX-64 arms:

So my latest redesign is intended to be a more minimalist, compact approach which will work for both Kung Fu competition and Mech Warfare. It's roughly 1kg lighter and about 10cm shorter than previous versions. The hips & lower torso have an entirely new design and improved COG due to the battery moving from the feet up into the hip unit:

This is shown standing next to my RX-24F lightweight kung fu bot, which is about the same size as a headless Bioloid Premium (for size reference).

Statistics: Posted by Tyberius — Tue Jan 11, 2011 8:51 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T19:32:21+01:00

FabinovX wrote:
really nice job.
but you may have a car for this price !!!
i've two question :
how many batery do you need to make this monster run ?
how many time does it run ?

I'm using two of these:

http://www.trossenrobotics.com/store/p/ ... ttery.aspx

5S 18.5V 2000mAh Military Spec Lipos. Very compact, very lightweight.

I'm not sure on total runtime, I know I had him online and standing / doing various poses at one point last night for about 2 hours before the batteries got to about 10% capacity, but that's not quite the same as walking continuously. This is also running a fairly high current draw Wifi camera.

Statistics: Posted by Tyberius — Mon Mar 01, 2010 7:32 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T19:28:12+01:00

really nice job.
but you may have a car for this price !!!
i've two question :
how many batery do you need to make this monster run ?
how many time does it run ?

Statistics: Posted by FabinovX — Mon Mar 01, 2010 7:28 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T16:46:51+01:00

5kg's is quite alot be carefull to not get your hands near it while its on

Statistics: Posted by Suicidal.Banana — Mon Mar 01, 2010 4:46 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T16:37:55+01:00

He actually ended up gaining a little weight due to the increased weight of the EX-106's, but the new EX-106 brackets I designed are a decent amount lighter (about 25-30%) than the older RX-64 brackets.

He weighs over 5kg now :O

Statistics: Posted by Tyberius — Mon Mar 01, 2010 4:37 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T12:08:42+01:00

very nice update on the frames, how many weight did this update cut? or did the new servos 'take up' that weight again?

Statistics: Posted by Suicidal.Banana — Mon Mar 01, 2010 12:08 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T05:52:16+01:00

New upgrades! Giger currently uses 10x EX-106+, 6x RX-64s, and 8x RX-28s for a total of 24 DOF.

This is about 2 hours of work after final configuration as a result of the new upgrades. All 10 main leg servos have been upgraded to EX-106+ Dynamixels, so my previous walking gait progress was entirely erased. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were designed in Autodesk Inventor 2008 and machined by Rapid Sheet Metal: http://www.rapidsheetmetal.com

Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, then it can be sped up to a more realistic, useful speed.

Video:

http://www.youtube.com/watch?v=jYDPrD4Njko

Statistics: Posted by Tyberius — Mon Mar 01, 2010 5:52 am

Giger - EX-106+ Custom Humanoid

2009-10-05T19:17:02+01:00

Looking awesome man, keep it up!

Statistics: Posted by Suicidal.Banana — Mon Oct 05, 2009 7:17 pm

Giger - EX-106+ Custom Humanoid

2009-09-30T21:57:25+01:00

Replaced the claws with some grippers. Tons of progress on the walking gaits, I'll have some video up shortly. High res pics available in my Gallery.

Statistics: Posted by Tyberius — Wed Sep 30, 2009 9:57 pm

Giger - EX-106+ Custom Humanoid

2009-08-11T19:20:14+01:00

Thanks guys! I drew a lot of inspiration, and even more help, from Rob and Chris Farrell. This project (and Hagetaka for that matter) would not have happened without their support. =)

Statistics: Posted by Tyberius — Tue Aug 11, 2009 7:20 pm

Giger - EX-106+ Custom Humanoid

2009-08-11T16:18:53+01:00

Giger is gorgeous!

Statistics: Posted by tom_chang79 — Tue Aug 11, 2009 4:18 pm

Giger - EX-106+ Custom Humanoid

2009-08-08T21:46:32+01:00

Love it.

Makes me what to rework my robot. Work method are you using for the control e.g. programmed gaits or some real time algorithms.

Bren

Statistics: Posted by Robo1 — Sat Aug 08, 2009 9:46 pm

Giger - EX-106+ Custom Humanoid

2010-03-01T06:04:08+01:00

Hey guys,

So I figured I would share this; originally it was intended as a short term work around for my Hagetaka project, but ended up working out really well and turning into a full blown project.

I ran into payload issues with Hagetaka (my reverse knee legged mech project) with as much as I was loading onto it for the Mech Warfare competition, so with 2 weeks left until the competition I decided to tear Hagetaka apart and try to go the 'tried and true' route by building a standard configuration biped. I spent roughly 30 hours on my Sherline CNC to make this happen; only ended up recycling some of the leg brackets from Hagetaka.

Named Giger, after one of my favorite artists of all time, this humanoid is built almost entirely from custom 5052 aluminum (few Robotis machined brackets used). It boasts 16 RX-64s and 6 RX-28s, and uses much of the same onboard electronics that Hagetaka did (custom Gumstix based controller, etc). He stands about 55cm tall and weighs about 4 kg.

I ended up liking the result of this bot quite a bit, so will be keeping this one intact and furthering its development. The initial walking gait was hastily thrown together and not entirely stable, and now that I've got some free time I'll be going back to refining it and posting some video in the near future. It's my intention to get this robot 'Kung Fu' ready in time for next years Robogames, hopefully give the Farrells some competition.

Hagetaka is being rebuilt using EX-106s, I'll post pictures and my progress on that when the time comes. =)

Anyway, here are some pics! Enjoy!

With some Bioloid humanoids at Robogames for size comparison:

And here's some work I did in Inventor modeling the robot for future changes (arms being reworked, as is upper torso):

Statistics: Posted by Tyberius — Fri Aug 07, 2009 7:44 pm