(This is as-of December 25, 2020)Due to the interesting structure of a universal spine joint with 2 actuated abdominal muscles, doing the trig for the inverse kinematics isn't as simple as it would be for legged robots. As a result, I ran a simulation...
Ellie now can move properly, after working with Robotshop to debug the usage of the LSS servos.Here she is with her ribs on--each rib has 29-32 RGB controllable LEDs. Also, you can see her janky v0 head--just a Lattepanda Alpha, Realsense D435i camera,...
Updates that can be seen in this video...aluminum support plates in drive boxsliding tension adjustable motor mounts1/16" kevlar control linesdoubled up u-bolt clamps to anchor control linesLumenier LU8 Pro motors closer to body10T to 18T timing belt...
Earlier I mocked out some arms to be used with Dynamic Actuators which are about 4" in diameter. There are 2 problems with the arms. Firstly the torso with 4 actuators is a little heavy for dynamic actuators. Secondly, the arms look a little husky. Recently...
Finally both shoulders have been printed and are ready with some updates (not only visual).In particular the attachment points for the gas springs has been shifted on both axis in order to have the following results:- Gas springs are preloaded at rest...
One of the aim I had in mind from the beginning of the project, was for the exo to be able to stand on its own in a static position.This is not a must in general for exoskeletons, particularly passive ones, but I consider it a "nice to have" since any...
Since I had basically ready the shoulder module from the full body exoskeleton (still to be completed), I started a quick parallel development of an upper limb solution, very similar to commercial exoskeleton.The aim will be, depending on the case, to...
My son and I found a well-preserved deer skull on a nature walk a while ago and immediately decided to bring it home and turn it into a Halloween prop. As usual, I got started too late and we just barely managed to get it done in time. We found a piece...
When running the Pink balancer agent on Upkie, the four CPU cores of the Raspberry Pi are used as follows: CPUIDProcessesThreadsUsage (%)0Spine (+ other system processes)Logger (+ other system threads)10 ± 51SpineSpine loop10 ± 52SpineCAN communications50...
A vertical incision was made in the back of the creature's thorax, where one would expect a spine.Spine, organs and bodily fluids were completely absent. They were almost completely replaced with white fibrous matter.Removal of some of the fibrous matter...
Saturday, 15:08, 26/11/2022 - This is a bad idea. "Why a human-sized mech, and not a exoskeleton?" Well... Sigh... Because the biggest limiting factor of any exoskeleton/power-armor/exosuit is the squishy meaty "pilot" inside of it. The machine...
Monday 22:25, 28/11/2022 - I'm procrastinating One thing that I forgot to talk about on the previous project logs is that the structure where the entire machine sustains itself is as important as the controls, the energy source and the actuators. And...
Friday, 13:25, 02/12/2022 - Yes, "02/12", it took my two days to finish this Project Log since I had to rewrite it time and time again.At first I thought this was a waste of time, but after doing this, I feel like I have a better idea...
Sunday, 09:06 (nice), 18/12/2022 I just wanted to share a little adventure that I had with the Open AI chat bot called "ChatGPT". Basically, it is a chat bot that can code, program and calculate a lot of stuff, and all you have to do is ask it if...