New Bioloid Balancer
New Bioloid Balancer
by UncleBob
Tue Mar 09, 2010 8:39 am
Dear guys
I am so happy to receive a balancer from Bioloid as a gift. They say this balancer is not yet for sale in the market and I am privilege enough to test it out. It is the same one that did the below tricks in vid. My distributor actually showed me the same trick on top of a rubbish bin and it works.
I will post a vid once I get it working and hopefully I can put the balancer in the feedback function for one leg stands and kick etc so that I can use one generate motion for different kicking environment etc.
Basically I think it is a Head Lock gyro but let's see.
I am so happy to receive a balancer from Bioloid as a gift. They say this balancer is not yet for sale in the market and I am privilege enough to test it out. It is the same one that did the below tricks in vid. My distributor actually showed me the same trick on top of a rubbish bin and it works.
I will post a vid once I get it working and hopefully I can put the balancer in the feedback function for one leg stands and kick etc so that I can use one generate motion for different kicking environment etc.
Basically I think it is a Head Lock gyro but let's see.
phpBB [media]
by Fritzoid
Mon Apr 12, 2010 1:18 pm
Hi Bob,
I would like to see more of the task file that your using with the balancer. Would you please post the source code online?
I've cobbled together a do-it-yourself AX-S20 using an accelerometer, the gyro and a HUV I/O board and would appreciate a working task file to start playing with.
From your video, I can see that the response time is quite slow. The robot gets tipped nearly 30 degrees before any adjustments take effect. In theory you should be able to get much faster feedback than that.
Those PRINT statements at the bottom of the program are a likely reason it moves so slowly. You might try getting rid of them, since I assume your not reading the output anyway.
Oh, and enjoy Korea.
I would like to see more of the task file that your using with the balancer. Would you please post the source code online?
I've cobbled together a do-it-yourself AX-S20 using an accelerometer, the gyro and a HUV I/O board and would appreciate a working task file to start playing with.
From your video, I can see that the response time is quite slow. The robot gets tipped nearly 30 degrees before any adjustments take effect. In theory you should be able to get much faster feedback than that.
Those PRINT statements at the bottom of the program are a likely reason it moves so slowly. You might try getting rid of them, since I assume your not reading the output anyway.
Oh, and enjoy Korea.
here
by UncleBob
Mon Apr 12, 2010 2:08 pm
http://robosavvy.com/Builders/UncleBob/Archive.zip
Here it is, you might need to use the txt2tsk to convert and then reconvert back to tsk file for it to work because the file checksum might be wrong. This is the original file given to me.
I think it can be quicker it is just a matter of setting the increments.
Here it is, you might need to use the txt2tsk to convert and then reconvert back to tsk file for it to work because the file checksum might be wrong. This is the original file given to me.
I think it can be quicker it is just a matter of setting the increments.
by Fritzoid
Mon Apr 12, 2010 6:20 pm
Thanks Bob,
As expected, when I tried to load the task file it got an invalid file error. The data looked OK in wordpad, so the checksum is likely the problem. Fortunately I have a little C program that can recalculate the correct value. Unfortunately the program is at home and I am at work so it will have to wait until later.
I'll post a useable version once I get it loading (and before I customize it).
As expected, when I tried to load the task file it got an invalid file error. The data looked OK in wordpad, so the checksum is likely the problem. Fortunately I have a little C program that can recalculate the correct value. Unfortunately the program is at home and I am at work so it will have to wait until later.
I'll post a useable version once I get it loading (and before I customize it).
by Fritzoid
Tue Apr 13, 2010 12:27 pm
Thanks guys, but I've already converted the files using my checksum calculator and a hex editor. You can see/get the working files at
http://robosavvy.com/Builders/Fritzoid/Balance.zip
I modified the original task file for my configuration but ran into big trouble when I tried to run the code. Most of the read requests are getting 8100 errors from my I/O board. The resulting error messages make the motion run agonizingly slow. I haven't figured out what the problem is yet.
I did have had a chance to look over the task code and it seems a little nutty. The displacement from center is added to a running total which is then scaled and applied to the leg servos. Why use a running sum?
This would only make sense if the robot spends the same amout of time tipped forwards as it spends tipped backwards. That's not a real world scenario, but it does fit the situation you see in the Robotis demonstration video at the to of this thread. So this seems that this must be the task code they used for that demo.
http://robosavvy.com/Builders/Fritzoid/Balance.zip
I modified the original task file for my configuration but ran into big trouble when I tried to run the code. Most of the read requests are getting 8100 errors from my I/O board. The resulting error messages make the motion run agonizingly slow. I haven't figured out what the problem is yet.
I did have had a chance to look over the task code and it seems a little nutty. The displacement from center is added to a running total which is then scaled and applied to the leg servos. Why use a running sum?
This would only make sense if the robot spends the same amout of time tipped forwards as it spends tipped backwards. That's not a real world scenario, but it does fit the situation you see in the Robotis demonstration video at the to of this thread. So this seems that this must be the task code they used for that demo.