Blog for development of 30+ DOF Bioloid model

[encrust]

In case anyone is interested, I have created a blog for the development of my fairly complex Bioloid scorpion robot.

Over the coming days and weeks I'll be posting details of my work to:

Build a bigger skeleton than typical for Bioloid, made from multiple kits
Control six 3-DOF legs (using AX18+ and AX12+) with an IK engine
Control arms and tail with a further >12 servos
Select the perfect rubber feet for the robot
Hack a Spektrum RC aircraft remote to give reliable and responsive remote control (14 channels from a 7-channel unit)
Split processing load between a CM-510 and an Arduino Mega, both running native C.
Integrate a guidance system from CH Robotics
Replace the Robotis Li-Po battery with a much higher capacity one
...

If this sounds interesting please check out
http://pointless-robot.blogspot.com/
(which will gradually be catching up with real time)

Thank you
Monty

[limor]

How's the progress with this project ?

[UncleBob]

Love to see it in action. What IK engine are you using ?


www.unclebobtech.com

[encrust]

Thanks for the prod guys - it has spurred me to get round to videoing the robot. I've posted a fairly poor quality one:
http://www.youtube.com/watch?v=fdam3BhB-dk&feature=youtu.be
but it gives some idea of the pretty fast walking speed and proportional style R/C control it provides. The autonomous mode (where it moves, stings etc. automatically) isn't done yet, although the pincers will squeeze automatically if you put a finger in.

I'll post some stuff the IK engine on the blog
http://pointless-robot.blogspot.co.uk/
when I get a chance. In short though I am:
- Using a workstation to work out all the possible X,Y,Z points reachable by a leg by blind searching through all servo positions.
- Building a low resolution 3D array which provides the servo positions needed for a given leg X,Y,Z position. This is stored as a program code table in the CM-510 Atmega.
- Ccomputing some other tables on a workstation like a way of picking up the leg which avoids unnecessary acceleration.
- At run time on the CM-510 computing where I'd like the legs to be and then using the tables with interpolation to get the servo positions.
I have done this all from scratch at it may well not be a sensible way of doing things!

[MOHIT JINDAL]

Hi;
The AX12+ Servos horns have 4 holes for 4 screws. Can I fix only 2 screws ?
Also can I use any other horns in AX12+ ?
Actually I am making Aluminium Brackets and the 4 holes are not in same distance.