Hip rotation.. work in progress

[NovaOne]

do the mods make give him a fat looking ass?

Yes But, for the female robots out there, its very firm and defined

I also had to mount a flat version of the battery (5 pack) on the front, so "he" has a larger (but muscular) "tum" as well:

[JavaRN]

Great job NovaOne! You should update your avatar, this looks even nicer!

[tum]

Hi,

Another question . Can he still move his legs up sideways (jumping jack style)? Are the extra motors mounted to his back using thrust bearings as well?

[Voelker]

Why are you not using lipo instead of this big and heavy battery pack ?

[BillB]

Looks great - along with Rooks Pawn must now be one of the one of the most modded RoboNovas on the internet.

[NovaOne]

Can he still move his legs up sideways (jumping jack style)?

Yes, this move is completely unaffected, also he can still get up after falling on his back; the back of the heels just tap the new servos (luckily).

Why are you not using lipo instead of this big and heavy battery pack ?

I intend to use a lipo pack in the future, but it sort of at the bottom of my ever growing list However I think the Hip mod takes priority.
I've made a new resolution, ie, to finish the mods i've started before I start any more. Unfortunately this list of unfinished projects has gotten embarrassingly large:

1.Hip rotation (will make task number 4 easier.)
2.Propeller uOLED graphical display of RN I2c and SPI sensors
3.Real-time calculation and display of centre of mass based on foot sensors
4."Improved" walking based on analogue joysticks and/or compass
5.Fully autonomous stair climb and descend
6.Stereo vision.... ( i'd be happy with any basic working vision system)
7.Useful binaural hearing

How many Sunday afternoons these might take me is anyones guess.
+ Ideas....as yet not started:

8.Gumstix wifi web page control from Nokia N770
9 Use the Gumstix the master controller to implement a more advanced closed loop using a Propeller and IMU and Centre of mass data....
10. lipo pack and 6.8v regulator.

PS
Voelker, this big heavy battery pack is currently a good counter balance for the servos

.. along with Rooks Pawn must now be one of the one of the most modded RoboNovas on the internet.

Thanks Bill, it was seeing the first incarnation of rooks pawn that made me decide on buying the RN kit in the first place, maybe when all the mods are working, I'll feel more deserving of your complement.

[grisuzone]

Hi NOVAONE
to thing they serve what those patches are on the shoulders and on the servants of the legs?

[bauermech]

Awesome!
Yes, I too can't wait to see the vids... I'll be patient though. I know all about long lists and how tough it is to make time for everything on them.

[NovaOne]

Hi grisuzone

The patches on the knees and elbows are either rubber or felt pads, to absorb some of the shock of falling over. I used to use all rubber pads, but the lower fraction of felt impedes some movements less than rubber pads.

Hi bauermech

It always fascinating to see your progress, Rooks Pawn is what I would refer to as Awesome Good luck,
PS Shouldn't you be at ROBO-ONE 13 with Rooks Pawn 4

Any how, these are the routines I have modified so far:

Code: Select all

foot_up:

   'move mass to right foot
   SPEED 5
   MOVE G6A,  85,  71, 152,  91, 112, 100,
   MOVE G6D, 112,  76, 145,  93,  92, 100,
   MOVE G6B, 100,  50,  80,    ,    ,    ,
   MOVE G6C, 100,  30,  80,    ,    ,    ,   
   WAIT
      'partial lift left foot
   MOVE G6A,  90,  98, 105, 115, 115, 100,
   MOVE G6D, 116,  74, 145,  98,  93, 100,
   'arms up
   MOVE G6C, 100, 105, 100,    ,    ,    ,
   MOVE G6B, 100,  95, 100,    ,    ,    ,
   WAIT
   'lift leg fully
   MOVE G6A, 100, 151,  23, 140, 115, 100,
   WAIT
   DELAY 2500 'delay as long as you like
   'lower leg
   MOVE G6A,  85,  71, 152,  91, 112, 100,
   MOVE G6D, 112,  76, 145,  93,  92, 100,
   WAIT
   RETURN
body_move2:
   MOVE G6D,110,  92, 124,  97,  93, 100
   MOVE G6A, 76,  72, 160,  82, 128, 100
   MOVE G6B,100,  50,  90, , , ,
   MOVE G6C,100,  30,  90, , , ,
   WAIT
   RETURN
'================================================
body_move1:
   MOVE G6A, 85,  71, 152,  91, 112, 100
   MOVE G6D,112,  76, 145,  93,  92, 100
   MOVE G6B,100,  50,  80, , , ,
   MOVE G6C,100,  30,  80, , , ,   
   WAIT
   RETURN
wing_move:
   DIM i AS BYTE
   SPEED 5
   
   MOVE G6A, 85,  71, 152,  91, 112, 100
   MOVE G6D,112,  76, 145,  93,  92, 100
   MOVE G6B,100,  55,  80, , , ,
   MOVE G6C,100,  35,  80, , , ,   
   WAIT
   
   MOVE G6A, 90,  98, 105, 115, 115, 100
   MOVE G6D,116,  74, 145,  98,  93, 100
   MOVE G6B,100, 150, 150, 100, 100, 100
   MOVE G6C,100, 150, 150, 100, 100, 100
   WAIT
   
   MOVE G6A, 90, 121,  36, 105, 115, 100
   MOVE G6D,116,  60, 146, 138,  93, 100
   MOVE G6B,100, 150, 150, 100, 100, 100
   MOVE G6C,100, 150, 150, 100, 100, 100
   WAIT

   MOVE G6A, 90,  98, 105,  64, 115, 100
   MOVE G6D,116,  50, 155, 160,  93, 100
   MOVE G6B,145, 110, 110, 100, 100, 100
   MOVE G6C,145, 110, 110, 100, 100, 100
   WAIT

   FOR i = 10 TO 15
      SPEED i
      MOVE G6B,145,  80,  80, 100, 100, 100
      MOVE G6C,145,  80,  80, 100, 100, 100
      WAIT
   
      MOVE G6B,145, 120, 120, 100, 100, 100
      MOVE G6C,145, 120, 120, 100, 100, 100
      WAIT
   NEXT i

   DELAY 1000
   SPEED 4

   MOVE G6A, 90,  98, 105,  64, 115, 100
   MOVE G6D,116,  50, 155, 160,  93, 100
   MOVE G6B,145, 160, 180, 100, 100, 100
   MOVE G6C,145, 160, 180, 100, 100, 100
   WAIT

   MOVE G6A, 90, 121,  36, 105, 115, 100
   MOVE G6D,116,  60, 146, 138,  93, 100
   MOVE G6B,100, 150, 150, 100, 100, 100
   MOVE G6C,100, 150, 150, 100, 100, 100
   WAIT
   

   MOVE G6A, 90,  98, 105, 115, 115, 100
   MOVE G6D,116,  74, 145,  98,  93, 100
   WAIT
   
   MOVE G6A, 85,  71, 152,  91, 112, 100
   MOVE G6D,112,  76, 145,  93,  92, 100
   MOVE G6B,100,  55,  80, , , ,
   MOVE G6C,100,  35,  80, , , ,   
   WAIT
   RETURN
left_turn:
   SPEED 6
   MOVE G6D,  85,  71, 152,  91, 112,  100   
   MOVE G6A, 112,  76, 145,  93,  92,  100 
   MOVE G6C, 100,  55,  80,    ,    ,    ,
   MOVE G6B, 100,  35,  80,    ,    ,    ,
   WAIT

   SPEED 9
   MOVE G6A, 113,  75, 145,  97,  93,  100
   MOVE G6D,  90,  50, 157, 115, 112,  100
   MOVE G6B, 105,  35,  70,    ,    ,    ,
   MOVE G6C,  90,  55,  70,    ,    ,    ,
   WAIT   

   MOVE G6A, 108,  78, 145,  98,  93, 100
   MOVE G6D,  95,  43, 169, 110, 110, 100
   MOVE G6B, 105,  35,  70,    ,    ,    ,
   MOVE G6C,  80,  55,  70,    ,    ,    ,
   WAIT
   RETURN
'================================================
'================================================
right_turn:
   SPEED 6
   MOVE G6A,  85,  71, 152,  91, 112, 100 
   MOVE G6D, 112,  76, 145,  93,  92, 100
   MOVE G6B, 100,  55,  80,    ,    ,    ,
   MOVE G6C, 100,  35,  80,    ,    ,    ,
   WAIT

   SPEED 9
   MOVE G6D, 113,  75, 145,  97,  93, 100
   MOVE G6A,  90,  50, 157, 115, 112, 100
   MOVE G6C, 105,  35,  70,    ,    ,    ,
   MOVE G6B,  90,  55,  70,    ,    ,    ,
   WAIT   

   MOVE G6D, 108,  78, 145,  98,  93, 100
   MOVE G6A,  95,  43, 169, 110, 110, 100
   MOVE G6C, 105,  35,  70,    ,    ,    ,
   MOVE G6B,  80,  55,  70,    ,    ,    ,
   WAIT
   RETURN
left_shift1:
   MOVE G6A,  85,  71, 152,  91, 112, 100
   MOVE G6D, 112,  76, 145,  93,  92, 100
   MOVE G6B, 100,  65,  80,    ,    ,    ,
   MOVE G6C, 100,  35,  80,    ,    ,    ,   
   WAIT
   RETURN
'---------------------------
left_shift2:
   MOVE G6D, 110,  92, 124,  97,  93, 100
   MOVE G6A,  76,  72, 160,  82, 128, 100
   MOVE G6B, 100,  35,  90,    ,    ,    ,
   MOVE G6C, 100,  35,  90,    ,    ,    ,
   WAIT
   RETURN
'---------------------------
left_shift3:
   MOVE G6A,  93,  76, 145,  94, 109, 100,
   MOVE G6D,  93,  76, 145,  94, 109, 100,
   MOVE G6B, 100,  35,  90,    ,    ,    ,
   MOVE G6C, 100,  35,  90,    ,    ,    ,
   WAIT
   RETURN
'---------------------------
left_shift4:
   MOVE G6A, 110,  92, 124,  97,  93, 100
   MOVE G6D,  76,  72, 160,  82, 128, 100
   MOVE G6B, 100,  35,  90,    ,    ,   
   MOVE G6C, 100,  65,  90,    ,    ,   
   WAIT
   RETURN
'---------------------------
left_shift5:
   MOVE G6D,  86,  83, 135,  97, 114, 100
   MOVE G6A, 113,  78, 145,  93,  93, 100
   MOVE G6C, 100,  65,  80,    ,    ,   
   MOVE G6B, 100,  35,  80,    ,    ,     
   WAIT
   RETURN
'---------------------------   
left_shift6:
   MOVE G6D,  85,  71, 152,  91, 112, 100
   MOVE G6A, 112,  76, 145,  93,  92, 100
   MOVE G6C, 100,  65,  80,    ,    ,   
   MOVE G6B, 100,  35,  80,    ,    ,   
   WAIT
   RETURN

I haven't made any major changes just slowed a few down and added some more arm movements....
(Sorry my lack of skill at teaching RN moves is beginning to show....Oh well ...I'd better get more practice them...what this space
This leaves the most difficult moves to fix:

fast_run01
fast_run02
fast_run03
forward_walk
backward_walk1
backward_walk2
backward_walk9
backward_walk7
backward_walk6
backward_walk5
backward_walk3
left_attack1
right_attack1
left_forward
right_forward

Then of course, the proper hip turn walking and attack moves still to program.........

PS sorry (in advance) if you try some of these moves on a standard RN, and you feel I have wrecked them compared to the originals

[NovaOne]

Sorry its taking me so long.

These are my basic turn routines:

Code: Select all

left_hip_turn:
   SPEED 5
   'Move mass to left foot
   GOSUB left_shift1
   'Lift right leg and twist hip 30 degrees
   
   MOVE G6A, 92,  65, 110, 125, 118,  70
   MOVE G6D,113,  76, 145,  94,  92, 100
   MOVE G6B,100,  46,  80, 100, 100,   
   MOVE G6C,100,  50,  80, 100, 100,   
   WAIT
   'Place right leg back on floor
   
   MOVE G6A, 99,  64, 145, 108, 103,  70
   MOVE G6D, 99,  76, 145,  95, 101, 100
   MOVE G6B,100,  46,  80, 100, 100,   
   MOVE G6C,100,  50,  80, 100, 100,   
   'WAIT
   'Move mass to right leg??
   MOVE G6A,112,  70, 145, 120,  84,  70
   MOVE G6B,102,  55,  80, 101, 100,   
   MOVE G6C,103,  38,  81, 101,    ,   
   MOVE G6D, 86,  84, 124, 108, 118, 100

   
   WAIT
   MOVE G6A,112,  70, 145, 110,  84,  100
   MOVE G6B,102,  55,  80, 101, 100,   
   MOVE G6C,103,  38,  81, 101,    ,   
   MOVE G6D, 86,  84, 124, 108, 120, 100
   WAIT
   '   'Lift left leg and twist hip back
   MOVE G6A,112,  69, 148,  98,  96, 100
   MOVE G6D, 81,  74, 128, 112, 113, 100
   
   
   MOVE G6C,109,  40,  83, 103, 100,   
   MOVE G6B,106,  40,  80, 101, 100,   
   'Place left leg on floor
   GOSUB standard_pose
   
   
   RETURN

right_hip_turn:
   SPEED 5
   'Move mass to right foot
   GOSUB right_shift1
   'Lift left leg and twist hip 30 degrees
   
   MOVE G6D, 92,  65, 110, 125, 118, 130
   MOVE G6A,113,  76, 145,  94,  92, 100
   MOVE G6C,100,  46,  80, 100, 100,   
   MOVE G6B,100,  50,  80, 100, 100,   
   WAIT
   'Place left leg back on floor
   
   MOVE G6D, 99,  64, 145, 108, 103, 130
   MOVE G6A, 99,  76, 145,  95, 101, 100
   MOVE G6C,100,  46,  80, 100, 100,   
   MOVE G6B,100,  50,  80, 100, 100,   
   'WAIT
   'Move mass to left leg??
   MOVE G6D,112,  70, 145, 120,  84, 130
   MOVE G6A, 86,  84, 124, 108, 118, 100
   MOVE G6C,102,  55,  80, 101,    ,     
   MOVE G6B,103,  38,  81, 101,    ,   
   

   
   WAIT
   MOVE G6D,112,  70, 145, 110,  84, 100
   MOVE G6A, 86,  84, 124, 108, 120, 100
   MOVE G6C,102,  55,  80, 101,    ,   
   MOVE G6B,103,  38,  81, 101,    ,   
   
   WAIT
      
   'Lift right leg and twist hip back
      
   MOVE G6D,112,  69, 148,  98,  96, 100
   MOVE G6A, 81,  74, 128, 112, 113, 100
   
   MOVE G6C,109,  40,  83, 103, 100,   
   MOVE G6B,106,  40,  80, 101, 100,   
   'Place right leg on floor
   GOSUB standard_pose
   
   
   RETURN

I hope to write something more advanced, and useful, this is just a start....