Giger - EX-106+ Custom Humanoid
Giger - EX-106+ Custom Humanoid
by Tyberius
Fri Aug 07, 2009 7:44 pm
Hey guys,
So I figured I would share this; originally it was intended as a short term work around for my Hagetaka project, but ended up working out really well and turning into a full blown project.
I ran into payload issues with Hagetaka (my reverse knee legged mech project) with as much as I was loading onto it for the Mech Warfare competition, so with 2 weeks left until the competition I decided to tear Hagetaka apart and try to go the 'tried and true' route by building a standard configuration biped. I spent roughly 30 hours on my Sherline CNC to make this happen; only ended up recycling some of the leg brackets from Hagetaka.
Named Giger, after one of my favorite artists of all time, this humanoid is built almost entirely from custom 5052 aluminum (few Robotis machined brackets used). It boasts 16 RX-64s and 6 RX-28s, and uses much of the same onboard electronics that Hagetaka did (custom Gumstix based controller, etc). He stands about 55cm tall and weighs about 4 kg.
I ended up liking the result of this bot quite a bit, so will be keeping this one intact and furthering its development. The initial walking gait was hastily thrown together and not entirely stable, and now that I've got some free time I'll be going back to refining it and posting some video in the near future. It's my intention to get this robot 'Kung Fu' ready in time for next years Robogames, hopefully give the Farrells some competition.
Hagetaka is being rebuilt using EX-106s, I'll post pictures and my progress on that when the time comes. =)
Anyway, here are some pics! Enjoy!
With some Bioloid humanoids at Robogames for size comparison:
And here's some work I did in Inventor modeling the robot for future changes (arms being reworked, as is upper torso):
So I figured I would share this; originally it was intended as a short term work around for my Hagetaka project, but ended up working out really well and turning into a full blown project.
I ran into payload issues with Hagetaka (my reverse knee legged mech project) with as much as I was loading onto it for the Mech Warfare competition, so with 2 weeks left until the competition I decided to tear Hagetaka apart and try to go the 'tried and true' route by building a standard configuration biped. I spent roughly 30 hours on my Sherline CNC to make this happen; only ended up recycling some of the leg brackets from Hagetaka.
Named Giger, after one of my favorite artists of all time, this humanoid is built almost entirely from custom 5052 aluminum (few Robotis machined brackets used). It boasts 16 RX-64s and 6 RX-28s, and uses much of the same onboard electronics that Hagetaka did (custom Gumstix based controller, etc). He stands about 55cm tall and weighs about 4 kg.
I ended up liking the result of this bot quite a bit, so will be keeping this one intact and furthering its development. The initial walking gait was hastily thrown together and not entirely stable, and now that I've got some free time I'll be going back to refining it and posting some video in the near future. It's my intention to get this robot 'Kung Fu' ready in time for next years Robogames, hopefully give the Farrells some competition.
Hagetaka is being rebuilt using EX-106s, I'll post pictures and my progress on that when the time comes. =)
Anyway, here are some pics! Enjoy!
With some Bioloid humanoids at Robogames for size comparison:
And here's some work I did in Inventor modeling the robot for future changes (arms being reworked, as is upper torso):
Last edited by Tyberius on Mon Mar 01, 2010 6:04 am, edited 1 time in total.
by Tyberius
Mon Mar 01, 2010 5:52 am
New upgrades! Giger currently uses 10x EX-106+, 6x RX-64s, and 8x RX-28s for a total of 24 DOF.
This is about 2 hours of work after final configuration as a result of the new upgrades. All 10 main leg servos have been upgraded to EX-106+ Dynamixels, so my previous walking gait progress was entirely erased. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were designed in Autodesk Inventor 2008 and machined by Rapid Sheet Metal: http://www.rapidsheetmetal.com
Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, then it can be sped up to a more realistic, useful speed.
Video:
http://www.youtube.com/watch?v=jYDPrD4Njko
This is about 2 hours of work after final configuration as a result of the new upgrades. All 10 main leg servos have been upgraded to EX-106+ Dynamixels, so my previous walking gait progress was entirely erased. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were designed in Autodesk Inventor 2008 and machined by Rapid Sheet Metal: http://www.rapidsheetmetal.com
Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, then it can be sped up to a more realistic, useful speed.
Video:
http://www.youtube.com/watch?v=jYDPrD4Njko
5kg's is quite alot 
be carefull to not get your hands near it while its on 
by Tyberius
Mon Mar 01, 2010 7:32 pm
FabinovX wrote:really nice job.
but you may have a car for this price !!!
i've two question :
how many batery do you need to make this monster run ?
how many time does it run ?
I'm using two of these:
http://www.trossenrobotics.com/store/p/ ... ttery.aspx
5S 18.5V 2000mAh Military Spec Lipos. Very compact, very lightweight.
I'm not sure on total runtime, I know I had him online and standing / doing various poses at one point last night for about 2 hours before the batteries got to about 10% capacity, but that's not quite the same as walking continuously. This is also running a fairly high current draw Wifi camera.
by Tyberius
Tue Jan 11, 2011 8:51 pm
Long time no update! I've shifted a lot of my focus on this project over towards competition. I took Giger to Korea twice in 2010 for Kung Fu competitions, but also wanted a platform for Mech Warfare. Here are the two variants I used in Korea, one with RX-28 arms and the other with upgraded RX-64 arms:
So my latest redesign is intended to be a more minimalist, compact approach which will work for both Kung Fu competition and Mech Warfare. It's roughly 1kg lighter and about 10cm shorter than previous versions. The hips & lower torso have an entirely new design and improved COG due to the battery moving from the feet up into the hip unit:
This is shown standing next to my RX-24F lightweight kung fu bot, which is about the same size as a headless Bioloid Premium (for size reference).
So my latest redesign is intended to be a more minimalist, compact approach which will work for both Kung Fu competition and Mech Warfare. It's roughly 1kg lighter and about 10cm shorter than previous versions. The hips & lower torso have an entirely new design and improved COG due to the battery moving from the feet up into the hip unit:
This is shown standing next to my RX-24F lightweight kung fu bot, which is about the same size as a headless Bioloid Premium (for size reference).
by Tyberius
Thu May 12, 2011 5:10 pm
Here are some updated pictures. I've since actually replaced the airsoft guns with custom built, lasercut versions.
Video:
Video:
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