Bioloid with Kinect head and hands
Bioloid with Kinect head and hands
by sascha
Wed Sep 07, 2011 9:55 pm
Hi,
I removed the upper torso and N900 (mobile phone) head on my bioloid and replaced it with the following:
- custom torso
- eBox-4300 mainboard (VIA FANLESS 500MHz Via Eden CPU / 1GB RAM)
- Kinect vision/head
- Phidget (USB) accelerometer
- USB-WLAN Stick
- USB2Dynamixel
Still missing are the hands, but a package from Canada is already on its way
Will post some pics soon.
I removed the upper torso and N900 (mobile phone) head on my bioloid and replaced it with the following:
- custom torso
- eBox-4300 mainboard (VIA FANLESS 500MHz Via Eden CPU / 1GB RAM)
- Kinect vision/head
- Phidget (USB) accelerometer
- USB-WLAN Stick
- USB2Dynamixel
Still missing are the hands, but a package from Canada is already on its way
Will post some pics soon.
Update
by sascha
Sun Oct 23, 2011 8:14 pm
Hi all,
just a few hints, if someone is trying to build something similar.
I recommend to get a board like the fit-pc2. I had to squeeze in an additional voltage converter (5V) and a small USB hub (4 Port). Plus the VIA board isn't very powerful either.
With a board like the fit-pc2 you can avoid this hassle!
I did a few modifications recently.
1. I had to get the heat produced by the mainboard out of the torso. That's why I had to add a small fan in the back.
2. Finally the CustoBots hands arrived and got mounted
I made a little progress with ROS:
a) I could get the Phidgets accelerator values in a small program on the robot
b) For teleoperation I got the 3Dconnexion mouse produce some useful values
c) I started with the urdf construction of a robot model to feed ROS
just a few hints, if someone is trying to build something similar.
I recommend to get a board like the fit-pc2. I had to squeeze in an additional voltage converter (5V) and a small USB hub (4 Port). Plus the VIA board isn't very powerful either.
With a board like the fit-pc2 you can avoid this hassle!
I did a few modifications recently.
1. I had to get the heat produced by the mainboard out of the torso. That's why I had to add a small fan in the back.
2. Finally the CustoBots hands arrived and got mounted
I made a little progress with ROS:
a) I could get the Phidgets accelerator values in a small program on the robot
b) For teleoperation I got the 3Dconnexion mouse produce some useful values
c) I started with the urdf construction of a robot model to feed ROS
by ron
Mon Oct 24, 2011 10:50 pm
I really love your build here. I just got my Roboard rb-110 setup and running, it's not in the bot yet but its fully operational running windows XP at the moment. My next upgrade will be a vision module Im thinking about the Havimo or possibly a cmucam3. I am new to robots and at this point am a better builder than coder. Luckily I am a fast learner.
Im curious what set of hands did you get from custoBots ?
It's another future upgrade, thanks.
Im curious what set of hands did you get from custoBots ?
It's another future upgrade, thanks.
Again Excellent Work.
Hands on - photo and video
by sascha
Tue Nov 08, 2011 9:41 pm
by sascha
Sun Nov 20, 2011 8:48 pm
Hi retro_boy,
As you already noticed, the arms and legs are bioloid premium kit parts.
The do-it-yourself part is the torso, which is handmade of carbon fibre (lot's of work to make it small and fit all the parts
) and the Kinect was modified a bit to fit the robot size better.
The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees) and an additional (premium kit) battery.
The mini-PC inside the torso connects to the servos with the USB2Dynamixel connector, which is also part of the premium kit as well. The accelerometer is an of-the-shelf Phidget (USB) sensor. The hands can be ordered by CustoBots.
I would say the most difficult part was to make the torso, which is not a bioloid part and can't be ordered anywhere else.
As you already noticed, the arms and legs are bioloid premium kit parts.
The do-it-yourself part is the torso, which is handmade of carbon fibre (lot's of work to make it small and fit all the parts
) and the Kinect was modified a bit to fit the robot size better.
The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees) and an additional (premium kit) battery.
The mini-PC inside the torso connects to the servos with the USB2Dynamixel connector, which is also part of the premium kit as well. The accelerometer is an of-the-shelf Phidget (USB) sensor. The hands can be ordered by CustoBots.
I would say the most difficult part was to make the torso, which is not a bioloid part and can't be ordered anywhere else.
by garycmartin
Mon Nov 21, 2011 2:14 am
sascha wrote:The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees)
Interesting, I decided to put the two AX-18As one level up, in the thighs (given that the muscle group in humans is also larger up there). Obviously I'd love to put AX-18As in the knees and ankles as well, if a reasonable 6pcs bulk pack becomes available in Europe.
sascha wrote:and an additional (premium kit) battery.
Do you have any advice relating to how you are regulating the combined battery supply? I've been contemplating cheating a little and splitting the dynamixel bus into parallel, left and right sides, powering each separately, and making it possible to double the available comms bandwidth to the servos using a controller for each.
--Gary
