tft screens are so sexy

[DanAlbert]

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on the middle of the band with your left foot, 2 cups fresh kale or mixed greens typically extended out to 72 weeks or so, but without a placebo control group. The FDA

[limor]

very cool!

how did you design it?
did you custom build the parts?
what controler board do you use?

[DanAlbert]

Thanks Limor,
I had to design the brackets that encase the servos. I originally bought brackets from lynxmotion but they didn't fit the oversized servo I bought.
I have about 7 different versions of brackets. I ended up using some of my earlier versions because it was very time consuming making them by hand. The one I have now seems perfect.
I have priced out the brackets on emachineshop.com and at qty 16 they are $15.00 each. However at qty 300 they become about $2.00 each. If the servos I use work out, I have thought of making a kit. I have had some issues with these servos though. When the power gets low they all go crazy and the robot does a " Danger Will Robinson" flailing of all the limbs. 8>)

Currently I am using lynxmotion's ssc-32.
What a great controller, especially for the price. I have spoke to Jim Frye at lynxmotion and he is constantly updating the firmware. Soon you will be able to store motions. This is the way Kondo does it, however unlike the Kondo controller each motion doesn't take a fixed amount of memory. Therefore the # of motions is not a constant (40 for the KHR-1) but is only limited by the amount of memory. There is an unused flash eeprom on the board that should help with this too.

I have just ordered some 3600 mAhr sub C batteries. Ten should give me 7200 mAhr at 6 volts. These are the new high discharge rate style. With this type of robot discharge rate is very important. Each servo typically draws 600 mA during motion. Doing the math....16 X 600 is about 10 Amps. Stall current draw is twice that. So if you want more that a few minutes of having your robot dancing then you need POWER.

A couple of things I am working on that I have prototypes of are a SDIO WiFi to serial adapter an a 6 DOF IMU. The IMU works but is not ready for prime time yet. Still struggling with the Kalman filter.

I'd also like to add sensors on the feet to give the bot some feeling of when it's foot is down.

So many ideas...so little time.

BTW I have him standing on his own and waving his hands.
As soon as I get the wireless connection running I will try to get him walking.

Dan

[inaki]

Dan, are you controlling the WiFi SDIO with a microcontroller ? If so, where did you get an SDIO Wifi able to work with a microcontroller.

[DanAlbert]

The SDIO WiFi to Serial has been a slow process due to lack of available data from the card manufacturers.
They do not want to give away the details of their card's SD functions.
I have written other SD drivers and have a pretty good understanding of what goes on.
Since the manuafacturers won't help I started to reverse engineer the software.
First I designed an SDIO jumper board to extract the data between the card and a PDA.


I hook the ground, clock,command and four data lines to my Digiview data analyzer and power up the card.
The Digiview has about 3 minutes of storage and captures all the data.
I have started to interperate the data but realized that this could take weeks to get it right.
I ran out of time for the upcoming RoboNexus and just installed a Bluetooth adapter on ZyRoQ.
In addition I found that Socket Communications was willing to set me up as a developer and give me support.
After several emails they said they sent me a card.
I never received it and there is now a trace on it to find out what happened.
I think maybe someone in their organization pulled the plug, but I don't really know.
Anyway I have a test board that I use to send commands and data to a SanDisk card I have.
I can start to initialize the card, but that's as far as I got.
If I get the time in October I will get back to hacking it.

[X7JAY7X]

I like your biped.

Are you planning on selling the brackets sometime soon?

What servos did you use?

Is there any particular reason why you went with WIFI for your wireless instead of a simple RF transmitter and receiver?

J

[DanAlbert]

Well I made each silver aluminum servo bracket by hand( with my bandsaw and mill). I have the design CADed and priced out the brackes at around $2.50 each for qty 200. If I could get a few interested parties together we could place an order. (The black ones are standard from Lynxmotion). The servos I used were from bluebird - model BMS-660MG. (www.blue-bird-model.com) I choose them because they were strong and inexpensive. about 195 oz/in and in small qtys about $25.00 each. They draw a lot of current as do all the powerful servos. My 6 amp bench supply is not enough to run him. I calculated about 8 to 10 amps. I am working on reducing his weight too.

I choose the WiFi for a few reasons.
1. My PDA and laptop both have WiFi so I only need one end of the communication.

2. WiFi is fast and somewhat reliable. (RS232 is too slow for things like video)

3. SDIO WiFi cards are cheap. about $50.00

[inaki]

Dan, did you manage eventually to control the SDIO Wifi card ? You told me that you were reverse engineering one. Did you have any success ?

[m9547]

Been looking at this forum and this robot and cannot see why anyone would spend the best part of £800+ on this robot when for less than £200 you can buy robosapien v2 which will pretty much do what this khr robot does if not more and theres version 3 coming out soon at 3ft tall with full voice controllability doing away with remote controls makes this more of a robot than this overpriced japanese offering.

Here he is:
The biped I've been working on.
He's not done yet. Duh.

[robosavvy]

Been looking at this forum and this robot and cannot see why anyone would spend the best part of £800+ on this robot when for less than £200 you can buy robosapien v2 which will pretty much do what this khr robot does if not more and theres version 3 coming out soon at 3ft tall with full voice controllability doing away with remote controls makes this more of a robot than this overpriced japanese offering.

This forum is about advanced hobby robotics and the KHR-1 and Robonova and home brewed ZyRoQ are robots that enable you to learn about humanoid robotic locomotion rather then playing with Robosapien's remote-control.

[refriedchicken]

Did you have any luck with the SDIO project?

[GSingh]

Hi Dan,
Last Year I wrote a USB based MASS STORAGE DEVICE using SD cards.
I do not know what is the difference between regular SD or SDIO but you may download and try my code from

http://ww1.microchip.com/downloads/en/A ... CHPMSD.zip


Application Note details on

http://ww1.microchip.com/downloads/en/A ... 01003a.pdf

This may (or may not) accelerate your SDIO implementation but I have few tricks like using Directory Snoop to peep into SD card FAT file system and track data formats instead of SCOPE shots.

Best Regards
Gurinder Singh

[GSingh]

Hi Dan,
I found this linux open source SDIO stack which I have uploaded at

http://robosavvy.com/Builders/GSingh

I will try to port this stack on Mplab C18 compiler but it may take a while,
in the mean time you may give it a shot and let me know if you got some portion of it ported for your application. I have got SDIO Wifi and SDIO GPS cards which I will start playing next month as I have to finish some demonstrations for ESC conference.

Keep in touch, and I think with the help of this stack it will be lot more easier to understand all the registers and command details as they are not available anywhere else.

Regards
Gurinder Singh