Robert the Robonova

[xx2747]

Hello,
I'm new here and I thought I'd share my Robonova, Robert.
He's a modified Robonova with 18 DOF. The two extra servos are HSR-5498's and are placed in the arms for elbow rotation.

Robert entered this year's RoboGames in San Francisco (light weight Kung-Fu). He didn't win but had a steady score - 3 or 4 wins and 2 loses.
He has a gyro for forward-backward stabalization but somehow it doesn't work on my RoboBasic template. (any help? )
I haven't got any chance to work on him much lately (because of the isobotarmor project - check it out in the isobot section ) but I'll be modifying his arms and waist and giving him a hip rotation.
Robert was made with much help from the people at the Trossen Robotics Forum. (Thanks! )
Here's a video of him before the games and also his gyro demo.
Oh- and for people wondering what the little pipe at the end of his arm is, it's just his hand. It does look goofy, but hey, that's all I could think of as a hand.

Thanks!

Robert:
http://www.youtube.com/watch?v=9oci5baxfEQ

gyro:
http://www.youtube.com/watch?v=ad1VsjHhT0A

[Sigma X]

I remember seeing this nova somewhere. Anyrate does your nova give you that hi pitched whining noise?

[xx2747]

I remember seeing this nova somewhere. Anyrate does your nova give you that hi pitched whining noise?

Yeah. I remember seeing your name too...
So, I don't get what you mean by hi pitched noise. What video are you referring to?

Wait - your the owner of that mech - Issydunyet, right? Cool name. I remember seeing your bot at the games and marveling at the super fast gait you had. One day, I hope, I'll make Robert a fast gait.

[Sigma X]

I remember seeing this nova somewhere. Anyrate does your nova give you that hi pitched whining noise?

Yeah. I remember seeing your name too...
So, I don't get what you mean by hi pitched noise. What video are you referring to?

Wait - your the owner of that mech - Issydunyet, right? Cool name. I remember seeing your bot at the games and marveling at the super fast gait you had. One day, I hope, I'll make Robert a fast gait.

NO no I didn't do Issy sorry but I did do a mech ita's not working yet due to needing a control board my mech was based off Tyberius earlier mech

The servo noise given off I may be talking about the 5990's

[xx2747]

Oh oops my bad.
Well Robert doesn't give a whining noise but sometimes when the battery runs low he can't stand up. I think it's cause of too much tension on the thigh servos. I'm gonna give him a new leg design soon but I don't know if it'll do anything.

[Sigma X]

I'm sure it will also do you use lipo batteries that may lighten the load some.

[xx2747]

I just use the stock robonova battery but I have to change it. It only lasts like 5 minutes. Do you suggest lipo? I think the servos take 5volts right now.

[Sigma X]

I usually like to use lipo batteries mainly for the light load and impressive power but please use at your own risk and be very careful other than that there better in my oppinion

[xx2747]

Ooh! Ooh!

It's time to unveil Robert 1.2!

This new version of Robert has a new arm design. It's very simple and good-looking. I think it's much better than the older version. This arm orientation makes the arm longer too.

Here's a video. Oh, and in the video, at the end, there's a supercharge section. It wasn't really intended but I thought it was cool how a move could make others following it faster. I called it supercharged. Anyway, I figured out that it was caused by an unclosed highspeed seton. Also, the move itself was coincidental too: It was supposed to be a clap.



Hope you guys like it. I still have that "I build Robots" sticker fro RoboGames on Robert. I don't think it'll come off easily. oh well.

http://www.youtube.com/watch?v=4B-KsQmcCao

[PedroR]

very cool!

The supercharge mode reminds me of some tv series lol

The change in the arms seems to give it a wider range of motion that look more human like.

[TechnoBuff]

On 8 Jul 09, XX2747 posted a comment about his standard Robonova battery pack lasting only 5 minutes. I had the same problem with both my RN batteries when they were new. I found that it took several/many charge/discharge cycles to slowly bring them up to a full charge lasting around one hour. Especially in the beginning, the relative gain in charge capacity is only a few additional minutes per cycle. However this curve begins to rise rapidly.

[xx2747]

I wonder why that happens.
However, my battery is inconsistant - sometimes it lasts for an hour and sometimes 5 minutes. Unfortunately the 5 minutes happened at RoboGames and I had to charge him after every match.
So, I'm trying to change the battery. I have no experience in batteries and I need help to choose the right battery and how to use it with the robonova. The power input looks different on the microcontroller: Where can I find the right tip? Also, I can't solder.

[TechnoBuff]

To xx2247: The other thing I should have mentioned is that the batteries do not seem to hold their charges more than a very few days. (I charge my spare through the adapter wire every time I charge my on board battery.) Could varying down-times between uses account for some of your inconsistent results? Your battery could just be withering away while you think it is fully charged.
I also don't know much about batteries or how to find an alternate. You may have real difficulty trying to fit something into RN's abdominal cavity. I have read that someone added batteries in the feet and on the front of the shins, but they may have been to power add-ons and not for main power. Try asking the truly Savvy Roboteers.
Lastly, I do solder sporadically. I wouldn't try it on expensive, possibly explosive batteries until I had a lot more skill. However, you could probably teach yourself some soldering on a few inexpensive battery clips. HAVE FUN!

[xx2747]

Any robonova owners - what screws are the ones used to attach to the horn? (the small ones)
I can't find the exact title of "PH/T-2 2x4" anywhere. The online shops have too many varieties.
help.. I'm running out of screws and am to the point where I have to take away some from the other servos..