RoboSavvy Forum

My Bioloid "L"

2010-05-05T20:26:36+01:00

Wow this is heavier than I though. Will be pretty interesting in korea.

Update:
Working on the walking. Still trying to calculate using inverse kinematics but that is pretty tough.

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Making small and fast steps, but still a lot to do unti this will be stable.

Statistics: Posted by 27Loco — Wed May 05, 2010 8:26 pm

My Bioloid "L"

2010-05-05T20:18:49+01:00

That's Giger, built by Andrew Alter of Trossen Robotics - right now he weighs in at 5.4 kg. He has EX-106 servos in his legs, RX-64 servos for the waist/shoulders, and RX-28's for the arms.

- Jon

Statistics: Posted by JonHylands — Wed May 05, 2010 8:18 pm

over

2010-05-05T14:37:17+01:00

Must be over 2kg I guess. I wonder if it can beat the hell out of King Kaiser.

Statistics: Posted by UncleBob — Wed May 05, 2010 2:37 pm

My Bioloid "L"

2010-05-05T14:24:26+01:00

Considering the videos you posted above, you surely dont want to find out

Will the Giger Fu fight in the same weight as yours in the Korea Robot Festival?

Statistics: Posted by 27Loco — Wed May 05, 2010 2:24 pm

hurt

2010-05-05T07:52:38+01:00

I wonder if it will hurt if it hits my arm.

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Statistics: Posted by UncleBob — Wed May 05, 2010 7:52 am

My Bioloid "L"

2010-04-30T08:24:21+01:00

@ UncleBob The exchange function...I totally ignored the Pose Utitlity of the RoboPlus Motion . Will try out the mirror and exchange function. Thanks UncleBob

Never thought the RX-64 is strong enough to crush a finger . Really scary.

@billyzelsnack Let me try to make a stand-on-one-foot video to show how well the robot can take the load on the ankle. The problem I have is the stall torque of the AX-12+. Maybe 2-4kgf.cm more for the ankle servo would be appropriate . If they release the AX-18F I definitely will buy 2 or 6 of them

Offtopic:
Seems like the forum has a problem with spam bots. The fellow copied my own post Yes I mean you cpakhale

Minor update showing that the ankle can take some load

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Statistics: Posted by 27Loco — Fri Apr 30, 2010 8:24 am

poor foot

2010-04-30T03:18:07+01:00

poor foot.

BTW did you see this RX64.

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Statistics: Posted by UncleBob — Fri Apr 30, 2010 3:18 am

My Bioloid "L"

2010-04-30T03:12:35+01:00

Here I go with a loading question again. haha.. How rough do you think that ankle geometry will be on ankle roll servo? I know when the first info on the freedom jr came out more than a couple people raised concerned about it. I even made a little prototype..

Statistics: Posted by billyzelsnack — Fri Apr 30, 2010 3:12 am

I see

2010-04-29T22:27:55+01:00

I see. What I do is to use the exchange function to mirror the pose in roboplus motion.

Statistics: Posted by UncleBob — Thu Apr 29, 2010 10:27 pm

My Bioloid "L"

2010-04-29T22:17:51+01:00

I would prefer a combination of both. Setting a Homeposition and then just setting the values to -10 or 200. Would be much easier for synchronizing the left and right site.

I believe making precise motions could be archived faster that way.

Statistics: Posted by 27Loco — Thu Apr 29, 2010 10:17 pm

Roboplus

2010-04-29T22:13:02+01:00

It is a different approach indeed. But why do it this way. Isn't roboplus motion method can also achieve the same?

Statistics: Posted by UncleBob — Thu Apr 29, 2010 10:13 pm

My Bioloid "L"

2010-04-29T20:37:36+01:00

Changed the hands to the "normal" ones again, because without the additional AX-12+ it doesn't make sense to add gripper.

Furthermore I made minor changes to the legs and took the design of the FREEDOM JrIII and changed all Dynamixel IDs. Oh dear making all motions again

Does anybody tried the software of best technology? The motion editor has a quite a different but interesting approach.

They are taking a "HomePostion" by just capturing the position of the servos. Looks like this below:

Code:: /*======================================================================*/ /* HomePosition */ /*======================================================================*/ const __attribute__((section (".rom3"))) THumanoid HomePos = { Servos:{ RightLeg:{ 507, 517, 738, 590, 510,}, LeftLeg: { 504, 516, 290, 437, 511,}, RightArm:{ 491, 245, 486,}, LeftArm: { 519, 775, 542,}, }, };

After declaring the home position the value zero will be that servo postion captured as home position. Makes it easier to remember were the robot started with his movement.

Code:: // Wake Up const __attribute__((section (".rom4"))) THumanoidMotion WakeUp[]={ { Servos:{ RightLeg:{ 0, 0, 0, 0, 0,}, LeftLeg: { 0, 0, 0, 0, 0,}, RightArm:{ 0, 0, 0,}, LeftArm: { 0, 0, 0,}, }, Adj:ADJ_SACC_SDECEL, Div:4000, }, };

Below is a simple bow motion. This is the part I am still trying to figure out. The difficulty is to recalculated the values to get the values of the servo postion.

I think the formula goes like this:

Code:: CurrentPosition * Previous Position / 1000 + HomePosition

Lets try that out with the second servo of the right and left leg:
right: 517 * 718 / 1000 + 517 = 888
left: 515 * 724 / 100 + 515 = 890

hm the left value is somehow not correct. should be below 512 of course. No idea how they figure that out. Maybe they are just adding a small line somewhere that calculates the following for the left side: (512-890)+512

Code:: // Bow const __attribute__((section (".rom4"))) THumanoidMotion Bow[] ={ { Servos:{ RightLeg:{ 0, 718, -11, -249, -2,}, LeftLeg: { -8, 724, 2, -263, 0,}, RightArm:{ 240, -5, -5,}, LeftArm: { 275, -2, 8,}, }, Adj:ADJ_SACC_SDECEL, Div:1000 }, { Servos:{ RightLeg:{ 0, 0, 0, 0, 0,}, LeftLeg: { 0, 0, 0, 0, 0,}, RightArm:{ 0, 0, 0,}, LeftArm: { 0, 0, 0,}, }, Adj:ADJ_SACC_SDECEL, Div:1000 }, };

You can download their complete library from their website including inverse kinematics walking, motions for the robo one competition.

Does anybody can imagine a different approach on how they are using their motion data?

You can find more info on their website, including a lot of code.
http://www.besttechnology.co.jp/modules/knowledge/?%E3%83%A2%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3%E3%81%AE%E4%BD%9C%E6%88%90[/code]

Best wishes,

Loco

Statistics: Posted by 27Loco — Thu Apr 29, 2010 8:37 pm

My Bioloid "L"

2010-04-22T23:02:18+01:00

Yeah, your new premium L looks great

Statistics: Posted by FabinovX — Thu Apr 22, 2010 11:02 pm

My Bioloid "L"

2010-04-22T13:07:01+01:00

Yep this sound like a whole new topic. I have never seen this before. Thanks for sharing UncleBob. Very interesting stuff!

But imagine your robot has feet like them where the sole is round. Would make them pretty unstable as soon as they stop walking I guess.

Statistics: Posted by 27Loco — Thu Apr 22, 2010 1:07 pm

My Bioloid "L"

2010-04-22T12:46:40+01:00

That's incredible. Specially the first one!

This worth a new topic, isn`t? : )

Statistics: Posted by siempre.aprendiendo — Thu Apr 22, 2010 12:46 pm