RX-64 Biped 'Mech'

[Tyberius]

Hi guys,

I guess this would go in the Home Built section, but I like this forum better

This is my Mech, Hagetaka.

This project is still very much so a work in progress, but I figured I would share my work thus far. This is a 7 dof per leg biped based off of Jon Hylands Bioloid MicroRaptor. The upper torso is based off of a Vulture MK2 from the Mechwarrior/Battletech series. I designed all of the metal components in Autodesk Inventor, and had them machined from 5052 aluminum by Big Blue Saw (www.bigbluesaw.com). Total of 14 RX-64s and 2 RX-28s for pan/tilt on the torso. Currently just the frame, servos, and battery weigh about 4 kg, and it stands about 66cm tall.

Airsoft weapons/arms are yet to have been added, and I'm just now finishing work on the electronics mount internally. Should be able to start work on the walking gait next weekend, though I've already prototyped this design with my Bioloid set and had it walking.

Its using a custom Gumstix controller designed by Farrell Robotics...

Anyway, here are a few pictures, click the links below for high res.



http://forums.trossenrobotics.com/galle ... iginal.jpg



http://forums.trossenrobotics.com/galle ... iginal.jpg

[Robo1]

lovely We need more pictures of it walking.

bren

[Tyberius]

lovely We need more pictures of it walking.

bren

Thanks! Plenty of video will come once I get it in walking condition, still in the process of mounting electronics, batteries, etc.

BTW: All the bracket CAD files that I designed for this are available for download, posted in this thread: http://robosavvy.com/forum/viewtopic.php?t=3322

[Tyberius]

Electronics, battery, and weapons mounted. Still need to finish up software and paint the guns black.

[Tyberius]

Not in a proper standing position, but gives you an idea of the back side.

[Robo1]

Those feet look pritty small to balance on. What control model are you thinking, zmp, static gaits.

What sensors have you mounted.

Bren

[StuartL]

Fantastic, Tyberius. Is this going to use a movement system similar to the one I saw a few years ago at RoboGames? That was exceedingly successful

[Tyberius]

Those feet look pritty small to balance on. What control model are you thinking, zmp, static gaits.

What sensors have you mounted.

Bren

Perspective makes them look a bit small, they're nearly 5" wide and 7.5" long. I'm starting with a static gait and will move towards a dynamic balanced gait. Using an ADIS 16355 IMU and Farrell Robotics' Gumstix controlller.



Standing under its own power. Good news here, power draw was minimal, I had it standing and powering all onboard electronics for over 90 minutes and it barely touched the capacity of the 5S 4000mAh Lipo.

Stuart- what robot did you see walking? I'm using the same type of walking gait that Jon Hylands' MicroRaptor uses.

[StuartL]

Perspective makes them look a bit small, they're nearly 5" wide and 7.5" long. I'm starting with a static gait and will move towards a dynamic balanced gait. Using an ADIS 16355 IMU and Farrell Robotics' Gumstix controlller.

Whoa. How tall is it? 2.5 feet?

Good news here, power draw was minimal, I had it standing and powering all onboard electronics for over 90 minutes and it barely touched the capacity of the 5S 4000mAh Lipo.

That's pretty damn cool for something so big, and undoubtedly heavy!

Stuart- what robot did you see walking? I'm using the same type of walking gait that Jon Hylands' MicroRaptor uses.

I saw Oro and Zog, the two bots by the Farrell team (brothers??). They were superbly engineered and at the time (RG2007) were leagues ahead of anything else amateur. Jin Sato's bot was amazing too, but then he does it for a living so that's cheating

Are you one half of Farrell robotics? I forget their usernames on here...

[Tyberius]

Whoa. How tall is it? 2.5 feet?

It's about 26.5" tall.

I saw Oro and Zog, the two bots by the Farrell team (brothers??). They were superbly engineered and at the time (RG2007) were leagues ahead of anything else amateur. Jin Sato's bot was amazing too, but then he does it for a living so that's cheating

Are you one half of Farrell robotics? I forget their usernames on here...

I am not, the Farrells (Father/Son team btw) are just friends and were kind enough to allow me to use their gumstix controller and software. Their bots are indeed impressive, just wait until you see what they have up their sleeve currently =) VERY exciting and some amazingly engineered bots, they're one of the sole reasons I got into bipeds.