Video of dynamic standing
by BillB
Wed Jun 25, 2008 9:33 am
Very nice, much Qudos.
I notice that the upper thigh and the ankle servos are positioned 180 degrees from the standard humanoid build. I imagine that this gives you a much broader range of leg motions, but raises the COG even higher. Would you recomend this configuration to other Bioloid owners?
I notice that the upper thigh and the ankle servos are positioned 180 degrees from the standard humanoid build. I imagine that this gives you a much broader range of leg motions, but raises the COG even higher. Would you recomend this configuration to other Bioloid owners?
by StuartL
Wed Jun 25, 2008 9:57 am
Ah cool. I didn't notice before, but you stretched him too. I stretched my guy awhile back but I never got around to actually doing anything with him after the surgery. Are you having any problems with the servos not being powerful enough?
Nothing yet, no... but...
I notice that the upper thigh and the ankle servos are positioned 180 degrees from the standard humanoid build. I imagine that this gives you a much broader range of leg motions, but raises the COG even higher. Would you recomend this configuration to other Bioloid owners?
It's a bit early to make recommendations. I specifically modified him because I wasn't happy with the range of motion (specifically the step climbing ability) of the standard layout. As it's turned out while the longer legs and reversed ankle orientation his stance is (obviously) much higher and the CoG is much higher, but this actually reduces the frequency of the pendulum swing when he's balancing, which is helpful. As the CoG is higher, though, he has further to fall when it goes wrong
Right now he hasn't done anything than stand and take a few (badly executed and useless) steps. Therefore I can't really say what his servo load etc is likely to be like. The legs do feel agile enough but the servos are overheating reasonably quickly, perhaps partially due to the LiPo power.
by BillB
Wed Jun 25, 2008 11:22 am
I have found that the torso and arms are a fraction too heavy for the leg servos.
I now tend to oscilate between 2 configurations (and sets of moves) depending upon the challenge. The first configuration is the standard Bioloid build, and the other configuration is without the torso (i.e. legs and hips only).
I found that with the second 'topless' configuration the servos perform much, much better and seldom overheat. This is especially noticeable on the stair climb where the Bioloid needs to balance on one foot.
I now tend to oscilate between 2 configurations (and sets of moves) depending upon the challenge. The first configuration is the standard Bioloid build, and the other configuration is without the torso (i.e. legs and hips only).
I found that with the second 'topless' configuration the servos perform much, much better and seldom overheat. This is especially noticeable on the stair climb where the Bioloid needs to balance on one foot.
by srobot
Tue Jul 01, 2008 6:30 pm
Will wrote:Hi from Will,
well done, i have not got to try my gyro thing yet, i'm still trying to understand my rx64 feet.
i've writen a behavior control which i've yet to try it is similar to
start
loop
load print id 120:25
if id 120:25 > 1658 then play motion page 50"lean forward"
else if id 120:25 < 1656 then play motion page 51"lean backward"
jump loop
end
does this sound like its going to stop my robot falling backwatds, or do i need to master programming in
C ?
i thought it might be as easy as "print ID 120:25" and then some if and then call. ?
again i say well done,
bye for now and be well from Will.
Yes Will, that will work up until a point. My Bioloid Cartwheel does just that. While it does not let precise control, it will help.
--Scotty
Dell Latitude D520, Windows XP, 4 GB RAM, 80 GB HDD, Intel Core 2 Duo. The power that's needed!
RIBO Labs, Springing Robotic Development to a New Level
RIBO Labs, Springing Robotic Development to a New Level
