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An Apod inspired hexapod

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Novice ( offline )
Posts: 73
Posted: 2012-02-08 19:53 
A have two mini servo's with round webcam's already attached, but not working right now. Anybody a suggestions as to where to put them and how to use them from a programming perspective?



Novice ( offline )
Posts: 73
Posted: 2012-02-08 19:57 
About the pictures, perhaps when i have finished all the wiring (there is a lot of it) and finished the tail pictures will be more interesting....

Kurt, your request:



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Posts: 73
Posted: 2012-02-08 20:07 
Kåre, yes a lot of fun. I saw you saying the same thing: a hex that can actually do something. And nice to see that my experimenting around with legdesigns worked. Any requestphoto's? What would you like to see? I think i like images of the headrotation best untill now, really looks great. O yeah, and the controls aren't that bad at al....after a bit of getting used to. I bit different than all i am used to. Again, great design + great code = big fun ;-)


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Posted: 2012-02-08 20:13 
Thanks! Again I am glad you are having lots of fun!

Kurt


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Posted: 2012-02-08 20:15 
You might want to document your leg and mandible builds. And a BOM would be nice!

Alan KM6VV

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Novice ( offline )
Posts: 73
Posted: 2012-02-08 20:22 
Alright, a BOM is.....? And as i said, i used a femurfrom the micromagic hex and these are a little more bend than the one from the phoenix and these fit really tight...but i have 5 femurs left ;-). And did you see (the terrible quality) photo of the leg at the start of this topic? But of course anytime willing to help, photograph or document whatever is needed....

By the way...did you see this movies as well:



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Guru ( offline )
Posts: 4127
Posted: 2012-02-08 23:40 
Good moves!

a BOM is a Bill of Material. All the parts needed to build. Something I was looking for the first hexapod I built (leg parts). Maybe if I'd had it, I wouldn't have had to make a special order to get the bearings (I machined my own body).

No worries! One can probably figure out your legs from the photos.

Alan KM6VV

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Posts: 73
Posted: 2012-02-09 10:05 
Guys, this one leg control option must be the bonus! :-) Funny.... (at 50th sec.)



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Posts: 2120
Posted: 2012-02-09 10:53 
Try to combine the one leg control with balance mode. :wink:

About the pics: Iso view, side view, front view and from above view would be great to see. :D

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Expert ( offline )
Posts: 264
Posted: 2012-02-09 12:13 
What a marvelous set of videos of a very interesting build! :D Your experimentation is inspiring. It would be wonderful if you could demo it to the science classes at your local high school or some similar venue as an example of what is possible at the home level.

Some questions please:

- You had a dialog with Robot Dude about reversed head rotation, and the videos after correction are almost ferociously impressive. How did you correct this; by a hardware connection change, or in software?
-- [From the earlier, uncorrected videos, I am thinking there could be times when you might like to use the reversed capability to keep the head fixed on its prey no matter what attitude the body is in. Think of the target fixation of a modern tank turret while the tank careens over rolling ground. I hear that is done by high speed gyros holding the gun mount relative to the center of the earth.]

- From the one-leg video: What roll does tail panning currently play in your robot's moves? Are you just moving it independently for effect, or is it programmatically tied to the robot's changing center of gravity for balance perhaps?

Thank you, and again congratulations on a fabulous build. :D :D

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Novice ( offline )
Posts: 73
Posted: 2012-02-09 17:23 
First of all, thank you very much Roboted. And immediately second, almost all credits (say 99%) go to Jeroen, Kare and Jim. I was just happely around when this code was released. But I am having a lot of fun with it and still a lot of options to try (footsensors, accelerometer etc.)

About the school, i was actually thinking about that as well some time ago. Especially knowing that we have some much trouble in interesting young people in technology. It is a real issue in the Netherlands. Actually, i dropped out of my electronics study to become a neuropsychologist. Education was too boring, not apllied enough, outdated, etc. But good suggestion, wouldn't surprise me if i would follow up on that. This Robohobby got me interested in electronics again...it is of course also for a neurpsychologist very interesting to play around with sensors, vision, sound, kinetics etc. And especially trying to understand IK with the goal of building robot's i found really interesting.

About the headrotation; I only put 1 minus sign in the code. Jeroen and Kare's (and Jim's) is really easy to use to be honest.

About the one leg; in the code you have to deside whether you use the Apod options or the One-leg option. In the video i just tried it and it turned out (surprise for me as wel) that when moving one of the frontlegs, the tail moves as well. But it look cool so i left it like that.


Novice ( offline )
Posts: 73
Posted: 2012-02-09 17:23 
I missed your's Kåre, sounds interesting! Gonna do that rigt now! :-)


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Posts: 73
Posted: 2012-02-09 17:33 
Question left: In walking mode while turning the body leans the wrong way, it should be lowest on the side your turning to shouldn't it?


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Posts: 9256
Posted: 2012-02-09 17:44 
yes

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Novice ( offline )
Posts: 73
Posted: 2012-02-09 17:48 
ok, i'll have a look at the code.


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