RoboSavvy Forum

Increase Height of BIOLOID Type A

2011-04-25T04:40:32+01:00

Hi,
I increased the Bioloid height to 60 cm and widen the torso part and added big foot. Is there any easy way to write motion code to walk
I think Inverse Kinametics in Roboplus can help
Please help
Thanks.

Statistics: Posted by MOHIT JINDAL — Mon Apr 25, 2011 4:40 am

Increase Height of BIOLOID Type A

2011-02-03T15:05:49+01:00

Mohit,

If your asking how to limit the motion to 30 degrees then you can set the CW and CCW Angle Limits in the dynamixel control table to accomplish this.

If your asking how to move the servos by angles (instead of position) in RoboPlus. The only way I know is to use the Pose Utility in RoboPlus Motion. It's accessible from a tab on the right-hand side of the Motion window.

If the Pose Utility doesn't meet your needs and you know a little C# programming (or are willing to learn) then you can actually extend RoboPlus Motion program!

It's a little-known fact but the Motion program has an SDK (Software Development Kit) and it's already installed on your computer! Take a look in ..\ROBOTIS\RoboPlus\Motion, you'll find a number of .dll files there. These libraries contain class definitions that can be imported into any C# project. So extending the functionality to include any number of control schemes can be easily achieved.

Statistics: Posted by Fritzoid — Thu Feb 03, 2011 3:05 pm

Dynamixel Angle

2011-02-01T00:56:43+01:00

Thanks,
I understand the concept now but how can I actually set the angle to 30 degrees ?
I want Dynamixel to turn 30 degrees only permanent.

Statistics: Posted by MOHIT JINDAL — Tue Feb 01, 2011 12:56 am

Increase Height of BIOLOID Type A

2011-01-31T12:49:01+01:00

That's an easy one!

The dynamixel servo has an angular range from zero to 300 degrees. The positional range is zero to 1023. To calculate position change per angle change we simply divide. 1023/300 = 3.41 position points per degree. Multiply the result by 30 to get the positional change you're looking for... 102.

The center of the servo range is at position 511. To move the servo 30 degrees to the left of center we add 102 to 511 to get position 613. A position 30 degrees to the right of center would be 409.

You may also want to look into the Pose Utility (in RoboPlus Motion). Its inverse kinematics feature can be used to move servos using angular rather than positional control.

Statistics: Posted by Fritzoid — Mon Jan 31, 2011 12:49 pm

Dynamixel Angle

2011-01-31T05:36:10+01:00

Hi,
Can anyone please tell me how to set Ax12+ Dynamixel angle to 30 degrees from Roboplus ?
I dont want the angle 300 or 360.

Statistics: Posted by MOHIT JINDAL — Mon Jan 31, 2011 5:36 am

Learn

2011-01-27T09:49:52+01:00

I think you should learn the basic first. Make your own custom walking gait with the existing robot before even thinking of making it walk with a tall robot.

2-3 feet ? I think the AX12 might not have enough torque for that.

BTW the taller it is the harder to balance and walk.

Statistics: Posted by UncleBob — Thu Jan 27, 2011 9:49 am

Increase Height of BIOLOID Type A

2011-01-27T09:47:05+01:00

I don't want big foot.
I want long legs with long hands.I want to Make Bioloid taller like 2 feet or 3 feet.

Statistics: Posted by MOHIT JINDAL — Thu Jan 27, 2011 9:47 am

Increase Height of BIOLOID Type A

2011-01-27T08:28:48+01:00

TrY give it some bigger feet. The original gait might still work.

Statistics: Posted by UncleBob — Thu Jan 27, 2011 8:28 am

Increase Height of BIOLOID Type A

2011-01-19T13:47:42+01:00

I dont think there is a formula for it. If you change something that is fundamental to the way the robot walks you will most likely have to reprogramme the entire gait.

That doesnt mean starting *entirely* from scratch necessarily (maybe close though?), - maybe you could run through each frame of the existing gait in roboplus motion and make the necessary modifications to try and achieve something that works.

Not sure how the values might change regarding the gyro joint offsets - but I expect someone will...

Let us know how you work it out though... I was thinking of some changes that would affect the leg length myself...

Statistics: Posted by RoboFlop — Wed Jan 19, 2011 1:47 pm

Increase Height of BIOLOID Type A

2011-01-19T00:36:54+01:00

I want to know what changes in task code or motion code i have to do if some how I increase the height of type A ?
I just want to walk Bioloid with tall legs.

Statistics: Posted by MOHIT JINDAL — Wed Jan 19, 2011 12:36 am