Progress Report (not really a progress)
by roboLucy
Fri Jun 16, 2006 5:54 am
barbar wrote:Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)
Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.
Hi BarBar,
To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.
Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.
we are not recommand to increase voltage because it is very dangerous method.
Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .
Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.
thanks.
Lucy.
[img]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[img]
[]http://211.238.207.44/~robotis/upgrade/4DOF_biped.wmv[/code]
by roboLucy
Fri Jun 16, 2006 5:54 am
barbar wrote:Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)
Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.
Hi BarBar,
To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.
Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.
we are not recommand to increase voltage because it is very dangerous method.
Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .
Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.
thanks.
Lucy.
[img]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[img]
- Code: Select all
http://211.238.207.44/~robotis/upgrade/4DOF_biped.wmv
by roboLucy
Fri Jun 16, 2006 6:00 am
barbar wrote:Would you be so kind as to explain the decreasing torque effect a little bit more in detail. Are there any empirical values? (such as: 18 AX-12 = 100% torque, 19 AX-12 = 90%, 20 AX-12 = 80% ...)
Or exemplarily: If I was to connect 25 AX-12, how much would the torque reduce? And is there any possibility of compensating that effect? Increasing the voltage?.
Hi BarBar,
To decide Torque that need to robot is possible by Simulation or simple calculation. However,you only can have exact result with real manufacturing
because there is various exception element. Our conclusion is that can be rich like attached video clips when we manufactured with 18 joints in present structure.
This assembly drawing and example program are going to be launched soon.
Joint that Torque is lacking is Roll in upper part of leg and knee. If upper body is heavier, can solve the problem by making leg short. 4 DOFs _ biped is the case of made step using minimum joint. please refer to attached video clip.
we are not recommand to increase voltage because it is very dangerous method.
Also, one more method is using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .
Sorry for late reply actually i needed some time to discuss about this issue with our engineer people.
hope my writing will be little help for you. see the vidio clip please.
thanks.
Lucy.
[URL]http://211.238.207.44/~robotis/upgrade/HumanoidWalk(Odinary).wmv[URL]
by barbar
Sat Jun 17, 2006 12:32 pm
roboLucy wrote: ... using Dynamixel, which is more high efficiency instead of AX-12.
More detailed specification of Dynamixel can search around in July after homepage reorganization .
Thanks for your reply roboLucy. A new and more powerful and TTL-capable Dynamixel? I'm curious!!
stevo3d wrote:The walking humanoid looks very good! Could you post a motion file for it?
I share opinion and question
Cheers!
barbar
