Lynxmotion Tech Support

I like your project as well, the bodies of they hex bots are starting to look really nice.

Now I just need to learn to program the blackberry and used the PEP data file for controlling the bot.

One word to describe your walking gait: smoooooooooooooooth!

That is one of the most fluid gaits I've ever seen... It's a ripple-style gait right? Did you modify the code generated by powerpod, or do you have your own IK generator from scratch?

Hi Xan!

Awesome walking!

Yes I'm waiting for the atomboard and a red Phoenix from Jim! And, YES! I'm very interested in your code. I don't have much time for making robots and since I'm in the middle of a third project (Felix, a SES based 4x4 DOF Quad ) I would be very happy to not spend many ours of making my own code. (I'm not an experienced progammer either ). Jim's idea of a community sharing sounds great!


As you mentioned, the calibration are important. Also the kinematics and gait algorithm.
My Phoenix are also a bit slippery but not very much, and she makes a lot of noise when walking on the hardwood floor The rubber socks is a good idea. I think the Lynxmotion Phoenix comes with rubber ends?

Yes, that's true, your RED Phoenix kit includes the rubber feet.

Hi,

Thanks for all the great reactions! The funny thing is that is spend over a couple of months to get the IK model in there. The gait that is on youtube was made in just 4 hours (using the IK) .



Jim, off course I’m willing to share my code and a project page would be a good option. The only thing is that my code isn’t ready to be published yet. Programming is still in progress and I need to cleanup and optimize my code. I’m working on this project for 4 to 8 hours a week so I can’t really promise when I can publish a good, bug-free version. But I’m willing to place some updates once and a while and explain how thinks work. What do you think?



Thanks tom, I’m using a ripple gait indeed. With IK fully implemented it is easy to change to tripod or a wave gait. I fully build my code from scratch. It was (and is) very time consuming but that was the only way for me to fully understand what I’m doing.


I can't wait to see another cool project comming out of you hands!!

Xan

Oh, and i need to check out your Phoenix feet!

I understand what you're saying. In order to help the experienced programmers I would recommend you outline your IK approach first. Perhaps illustrate the general way your program works. I know Malatory would find this information very useful as he is just starting his project. Rather than wait till your code is polished maybe you could just send it to Beth and we can throw it onto the server. Then we can update it as you make progress. Whatever you are comfortable with we will try to be helpful.

Clap Clap..

I have to agree with Jim, Outline what you have done for the IK, and even if the code is not in the best of shape. It will help me start to understand that process.

My project will have the option of both paths Laptop with Bluetooth and Botboard. I also am looking seeing how much the crackberry developer kit is. Thought it might be fun to have the robot walking and controls by my phone ( its a like to have and not really a major part of the project)

Hi KÃ¥re,

A 4DOF Quad sounds interesting! What made you decide to go with 4DOF? What are the arrangement of the legs, if you are ready to discuss?

I may have the funding for my next 'bot lined up, and would consider a quad. Dog? Cat?? a 'bot with other then a sprawled leg arrangement would be interesting. Do you want to drive it with an SSC32? And a Basic Atom (Pro?) ? I'll do my stuff in C, if you're interested. Doesn't the Pro take C as well? Let me know if I can help you.



Do you think of any of the quad dogs I've posted on have the appropriate leg layout?

Alan KM6VV

Hi,



Sounds like a good idea. I just send you a PM to get things started.



I'll be happy to help you out Malatory. The most of my IK code is finished and comments are included. I found a little bug in the IK of the body and want to fix that first. I planning to spend some time on that this evening and weekend. So I would like to plan the first publication for next week. I hope that’s fine with you.

Xan

I would be interested in seeing your IK code as well... I am trying to develop my own while reading my mechanical engineering book, "Theory of Applied Robotics: Kinematics, Dynamics, and Control" by Reza N. Jazar. It is a great book. It covers Inverse Kinematics quite well...

Next week is fine with me, I dont see myself getting to the point of needing it for at least 2 weeks, but looking it over ahead of time, will be nice.

Thanks for helping out with this.

Malatory

Hi Alan!

First, I don't want to hijack this thread (sorry Xan), I'll soon post a thread about the Felix project. For the time I'm a bit busy with work and family so please be patient. And it's far from walking yet...


I'll answer you about that in the new thread. All I can say is that the legs are under the body (not out of the body like an hexapod).


At first I just want to use a SSC32 + BlueSMIRF and a Excel sheet taking care of 4x4 DOF kinematics (I'm far from finished with that part too).


Are you thinking of the G-dog? It's awesome with fast servos. But I find it a bit limited when turning and COG shifting (balance on two feet) with only 2 DOF.

Anyway, I think this discussion should continue in another thread...

hi gentelmen

first let me say that both zentas and xan's bots look fantastic. and i really want to get mine looking as good. i'm not much of a programer but am a great machinest from the old school of machining. don't won a cnc but do have a nice little shop to work in. and i can see all kinds of fun possabilities for the hexapod.

i would really love to see a page devoted to this project.

I would love to see how you program this puppy.

i bought the kit and 645 servos the ssc32 v2, the atom pro 28, the ps2 controler the seq software.

i followed the instructions for assembly and got it to stand on 6 feet via the set all servos to 1500 button. Then instructions seemed to vanish???


Help where do i go from here???

i would really like to get some programing that would let me at least get this puppy to walk a few steps and turn once so i can start to get the idea of how thngs work.

would love to see the files zenta has as well as what ever othe things that might be out there.

guess i have rambeled on nufff

Larry lost and confused and bewildered in alaska

Hi Iseguine



What’s your next step? Well walking is about the last thing that you need to do. I have spent months on my Inverse kinematics before I could make my fist steps. But I know the feeling of falling into the dark hole of what to do next

My big advice is to start with some simple movements. I started with implementing IK for just one leg with only the knee and horizontal hip servo. Try to let it run in strait lines according to X and Y coordinates. This will give you an idea of both IK and working with the Atom pro.

You can look at the programs included in the powerpod application. This will give you an idea of how the Atom chip works. I'm planning to publish my code in parts starting next week.



Zenta has made a great Excel sheet which can help you with your IK solution. You can find the thread over here: http://www.lynxmotion.net/viewtopic.php?t=3117
There is also a sheet included with Inverse Kinematics for just one leg.

I hope this helps.

Xan