Humanoid Type A/B/C construction plans

[Pev]

Hi All,

As I have mentioned I have one of the old Bioloid comprehensive kits. I have looked all over for the construction plans for the new type A/B/C humanoids but to no avail.....

Does anyone lnow where I can download perhaps a PDF of these, I have check the Robotis site but no luck as yet...

Thanks

Pev

[billyzelsnack]

I've not seen the plans online, but it's not too difficult to figure out from looking at images found online. It's pretty close to the original humanoid. The only real tricky part involves getting the orientation of hip yaw correct and figuring out a way to attach the legs to the torso. Both solutions just require a bit of fiddling. My Robocup entry was built from a comprehensive kit, but it was configured as a premium type A and ran the walk motions from the premium A too ( though via my software, not the CM5, but that'll work too).

[Pev]

Thank for the reply Billy.

I guess I was being lazy lol, I have the original Comprehensive Kit humanoid and have now upgraded the CM-5 to the RoboPlus firmware and app suite. That in turn lead me to update the BioBlue motion file and old BCP program to work with RoboPlus. None of it was too tricky.

I then loaded the new Type A motion file into the old Humanoid design and got some issues with the legs. Primarily the robot seemd ed be slightly crouched and the hip rotation was all over the place. I will have to have a proper look at it and see if I can work out what it is doing over the coming week.

Pev

[billyzelsnack]

One of the more subtle things they changed with hip yaw in the premium A was to have the hip yaw/pitch/roll axis' all intersect. Maybe look into that. I think the comprehensive humanoid has them offset because the hip yaw servos are so close together. The new premium A configuration rotates the hip yaw servos 90 degrees giving the legs more room.

As for the actual orientation of hip yaw bracket.. Take the legs off and run the motion so the robot ends up in the default pose. Now put the legs on whatever orientation makes them straight.

[Pev]

Thanks Billy,

I just had a look at the Type A motion file and saw the hip servos seem to be at 90 degrees to the old humanoid, so that will be my starting point. Will have to wait until tomorrow as I have to give a demo to a colleague tomorrow who is thinking of getting a robot........

Really appreciate your help

thanks

[billyzelsnack]

I forgot that I had a video using the CM-5 running roboplus in a premium Type A-like configuration..
http://www.youtube.com/watch?v=_rqEFi9N4f0

[Pev]

Wow, nice.

Thank you

[UncleBob]

I notice you able to program robotask with it remember the few key strokes. I also tried to do this but find it hard because robotask do not have array or any way to store many variables. Do you just store them in simple variables ?

BTW I have this idea but no time to do this yet, you guys can do if you want.

Robot Typing : Tape the robot in front of a keyboard. Then program a motion for each keyboard key. Then just tell robot to send certain motion based on a key. You can office make it play drum, piano etc.

[RoboFlop]

Where abouts in the UK are you Pev? Might be able to lend you the manual from my Premium kit if you are close enough...

South West myself...

[billyzelsnack]

I notice you able to program robotask with it remember the few key strokes. I also tried to do this but find it hard because robotask do not have array or any way to store many variables. Do you just store them in simple variables ?

haha. It was quite ridiculous. I emulated an array with a chain of if/then statements.

[Gort]

http://www.robotis.com/download/doc/BIO ... id_ASM.pdf


http://mike-ibioloid.blogspot.com/2010/ ... anoid.html

[Pev]

http://www.robotis.com/download/doc/BIO_PRM_Humanoid_ASM.pdf


http://mike-ibioloid.blogspot.com/2010/ ... anoid.html

Thank you , that is brilliant. Busy weekend for me making mods now