RoboSavvy Forum Robosavvy Forum: The largest online community of Humanoid Robot Builders 2012-04-20T06:26:44+01:00 http://forum.robosavvy.com/feed.php?f=5&t=7791 2012-04-20T06:26:44+01:00 2012-04-20T06:26:44+01:00 http://forum.robosavvy.com/viewtopic.php?t=7791&p=34178#p34178 <![CDATA[Blog for development of 30+ DOF Bioloid model]]> The AX12+ Servos horns have 4 holes for 4 screws. Can I fix only 2 screws ?
Also can I use any other horns in AX12+ ? :roll:
Actually I am making Aluminium Brackets and the 4 holes are not in same distance. :wink:

Statistics: Posted by MOHIT JINDAL — Fri Apr 20, 2012 6:26 am

]]> 2012-04-15T08:17:51+01:00 2012-04-15T08:17:51+01:00 http://forum.robosavvy.com/viewtopic.php?t=7791&p=34163#p34163 <![CDATA[Well, since you asked...]]> http://www.youtube.com/watch?v=fdam3BhB-dk&feature=youtu.be
but it gives some idea of the pretty fast walking speed and proportional style R/C control it provides. The autonomous mode (where it moves, stings etc. automatically) isn't done yet, although the pincers will squeeze automatically if you put a finger in. :-)

I'll post some stuff the IK engine on the blog
http://pointless-robot.blogspot.co.uk/
when I get a chance. In short though I am:
- Using a workstation to work out all the possible X,Y,Z points reachable by a leg by blind searching through all servo positions.
- Building a low resolution 3D array which provides the servo positions needed for a given leg X,Y,Z position. This is stored as a program code table in the CM-510 Atmega.
- Ccomputing some other tables on a workstation like a way of picking up the leg which avoids unnecessary acceleration.
- At run time on the CM-510 computing where I'd like the legs to be and then using the tables with interpolation to get the servo positions.
I have done this all from scratch at it may well not be a sensible way of doing things!

Statistics: Posted by encrust — Sun Apr 15, 2012 8:17 am

]]> 2012-04-15T04:36:03+01:00 2012-04-15T04:36:03+01:00 http://forum.robosavvy.com/viewtopic.php?t=7791&p=34162#p34162 <![CDATA[IK]]>

www.unclebobtech.com

Statistics: Posted by UncleBob — Sun Apr 15, 2012 4:36 am

]]> 2012-04-14T21:56:29+01:00 2012-04-14T21:56:29+01:00 http://forum.robosavvy.com/viewtopic.php?t=7791&p=34160#p34160 <![CDATA[Blog for development of 30+ DOF Bioloid model]]> Statistics: Posted by limor — Sat Apr 14, 2012 9:56 pm

]]> 2012-02-17T13:19:50+01:00 2012-02-17T13:19:50+01:00 http://forum.robosavvy.com/viewtopic.php?t=7791&p=33716#p33716 <![CDATA[Blog for development of 30+ DOF Bioloid model]]>
Over the coming days and weeks I'll be posting details of my work to:
    Build a bigger skeleton than typical for Bioloid, made from multiple kits
    Control six 3-DOF legs (using AX18+ and AX12+) with an IK engine
    Control arms and tail with a further >12 servos
    Select the perfect rubber feet for the robot
    Hack a Spektrum RC aircraft remote to give reliable and responsive remote control (14 channels from a 7-channel unit)
    Split processing load between a CM-510 and an Arduino Mega, both running native C.
    Integrate a guidance system from CH Robotics
    Replace the Robotis Li-Po battery with a much higher capacity one
    ...


If this sounds interesting please check out
http://pointless-robot.blogspot.com/
(which will gradually be catching up with real time)

Thank you
Monty

Statistics: Posted by encrust — Fri Feb 17, 2012 1:19 pm

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