Anyone add a 19th servo to the hip rotation?

[tom_chang79]

This is in regards to the biped humanoid configuration of the Bioloid. I've added a 19th AX-12+ to the hip rotation. I've assigned it ID of 19. For some reason, it tries to rotate the hip when I run the default humanoid program. I checked the motion files in robot terminal and CIDx019 is assigned the value "512" across all the pages. Why does the hip servo still tries to rotate when the default humanoid program is ran?

[trey3670]

two things come to mind.
first where the marks on the servo horn and servo case aligned when assembled?

second there are two motion files,one for the 18 servo and one for the 19,sure you have the right one?

[tom_chang79]

Yeah, the servo is centered at 512. I checked this when I force the 19th servo to this position.

I think you're confusing the .rbt with .mtn files. There is a profile for a 19-servo .rbt file but there is only one motion file that came with software...

Do you have a 19-servo motion files...

[trey3670]

your right,doh!

[siempre.aprendiendo]

This is in regards to the biped humanoid configuration of the Bioloid. I've added a 19th AX-12+ to the hip rotation. I've assigned it ID of 19. For some reason, it tries to rotate the hip when I run the default humanoid program. I checked the motion files in robot terminal and CIDx019 is assigned the value "512" across all the pages. Why does the hip servo still tries to rotate when the default humanoid program is ran?

Ummm, the "Initial action" load pose 1 that have a 0 in the id=19, in the walk poses there is a 512 value in the id=19, isn't it?

But I can't test if this is the "problem" because I have another "configuration" built. I'm only reading the mtn values and default humanoid program, may be I fail to notice something ...

[tom_chang79]

That's what I've been racking my brains about. I checked many of the pages of the motion file in robot terminal and ID 19 seems to hold position at 512. However, when I push the "D" button after I push the play button, to initiate the walk function, "program 4" in the default behavior control, the waist servo just rotates. I think what I need to do is just create my own walking motion file with ID 19 plugged in at all time to make it write over whatever value. Curious, I saw these lines in behavior control program:

Code: Select all

If 1:8 = 0 then load 1:8 = 1023

I'm assuming that line makes the servo mode into position control mode, since it is loading 1023 into address 8 of ID 1.

I tried doing the same for 19 by:

Code: Select all

 if 19:8 = 0 then load 19:8 = 1023

I really want to use the default walking motion file since it's quite stable (on hard surface anyways, falls over on carpet) and just tweak the speed and "compliance" or the smoothing slope. The default walking gait is beautiful, I went through page after page of the motion file and realized that each "pose" was very incremental to make the walking work for the biped humanoid.

Curious, I do see 19-servo biped humanoid in some of Robotis' pictures, just look at the picture on the right side of this forum, "Buy Now" picture, and you'll see that Robotis has a 19th servo on the hip but not for rotation but for bowing...

I might just remove the 19th servo from the hip and move it to the head instead. Still, I think a hip rotation would have more of an advantage during turning, it can aid in COG shifting when the hip rotates...