To make the experience fit your profile, pick a username and tell us what interests you.
We found and based on your interests.
Even simplest movement is not as simple as I expected. Here are some results applying PID, which I know is not adequate for the job, but it can serve as a reference point for more complicated self-learning code that will learn dynamics of the system from PID observations. OMG...
Robot is heavy (almost 10 kilo). So I gave it a carry handle. I also make it longer. You can see covers for the computer (on top) and for the video system (front). What kind of video I'm going to use I'ms still not sure but the design is supposed to accommodate different sizes by just re-designing the covers.
I finally assembled the thing and it all works fine.
I have started working on motion control system. Long-term I want an intelligent self-learning software similar to how living creatures learn to walk. But first I wanted a dumb software that is capable of basic movements, such as get up, sit down, walk. Even this turns out to be harder than I expected.
I believe most robots out there are based on servo motors that can be instructed to hold a given angle. My motors kind of do not. I designed this thing from the very beginning to be soft and dynamic, like living creatures are. Cool long term, not so cool for cutting corners. Also it only runs at half of the voltage. Given capable software it would still be able to stand up and walk, but no half-voltage is no good for cutting corners either :)
Anyway, I need to implement at least simple movements in order to seriously present this concept for investment/collaboration purposes.
Stay tuned for better movements and body V2.0.
My new printer did not live up to expectations so I had to use the old one.
Here is a couple photos that will give you an idea.
As you know I'm making my custom motors for this and there are still problems with the small one, so there will be some delay.
I'm hoping however to install the mainboard and test sending commands, hopefully in my next update there will be some movement :)
Despite some delays here is some progress. This already gives me and you a feeling of what the beast would look like.
Based on my learnings from BLDC controller and custom motor, I'm now going to build and assemble actual 4-legged robot.
I have started printing parts but I don't have much to show yet. Just this.
I have bought DLP printer by the way, but have not unboxed it yet. My hope is that it will make things move much faster. This big part you see below printed on classic extrusion printer took me something like 3 days!
Create an account to leave a comment. Already have an account? Log In.
I love the design, it looks very professional, well done ! Maybe you can give a bit more details about the actuators, mecha and hardware design ? keep up the good job ;)
I like the design. You will have a lot freedom of the joints. What gear ratio did you choose for the gearbox? Will it need to be powered all the time to stand or will shunting the motors be enough to lock up the motors? Could you provide a link to the base motor you used?
Shane, thanks for liking :)
Gear ratio is 4:1.
Unless it stands on knees straight it will need to be powered.
I built my own custom motors, you can see them in other project of mine.
When you start the kinematics, you may be interested in the control system from SmallKat: https://hackaday.io/project/164727-smallkat-an-adorable-dynamics-oriented-robot-cat It uses an esp32 to connect to the servos, then a full simulation/control IDE on a nearby PC to run the kinematics. If your interested, let me know, ill be posting a how-to in my project log for forking SmallKat with custom hardware.
Kevin, good to know you use approach similar to mine!
I also use remote control from PC, but I use RaspberryPI W to establish WiFi connection.
Become a member to follow this project and never miss any updates
Are you still working on this? Its been over 2 years without updates