openDog Dog Robot #1 | Planning & Explanation | James Bruton
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- Опубліковано 3 чер 2018
- Episode one and already my dogs are barking.
As with any of my projects, it’s important to start with a solid plan. After Boston Dynamics great work with their robot dog, I thought I’d tackle my own robot companion but make it truly open source. In this first week, we’re talking kinematics and brushless motor control using O-drive. Using a bit of Pythagoras theorem it’s fairly simple to write the code that will enable the dog to move each leg back and forth. Keep following the series to see the progress of openDog and learn how to build one for yourself.
My open source robot dog project. It includes everything from 3D printing to coding, including a lot of CNC cutting and installing all the electronics myself.
If you want your very own four-legged friend to play fetch with and go on long walks then this is the perfect project for you. This way a dog can literally just be for Christmas. The full CAD is available at the link below for anyone that’s keen to build their own.
github.com/XRobots
odriverobotics.com/
github.com/madcowswe/ODrive
github.com/madcowswe/ODriveAr...
www.mathsisfun.com/algebra/tr...
① GENIUS
No MacArthur grant yet. But while I’m still waiting by the phone for that call, maybe you might patronise me with your Patreon-age. Or, if you’re all out of digital cash just comment on one of my hilarious Instagram pics, pop me a Tweet or generally yell in my direction.
Patreon: / xrobots
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Huge thanks to my patrons, without whom my standard of living would drastically decline. Like, inside out Farm Foods bag decline. Plus a very special shoutout to Aleph Objects, Inc who keep me in LulzBot 3D printers and support me via Patreon. www.lulzbot.com/
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: / community
② XROBOTS
Former toy designer, current UA-cam maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
③ MUSIC AND SFX
The majority of the music and SFX used in my videos is from Epidemic Sound share.epidemicsound.com/xrobots - Наука та технологія
I get really excited when you publish a new video.You truly inspire me to make better bigger things. Thank you so much for sharing your work 😃!
He followed me on Instagram, which is weird because I didnt even follow him and didnt even know he had one, and now I'm making a prosthetic arm for my friend and working on something like deus ex arms but for a person with arms. All because he followed me on Instagram.
This is incredible, i wasn't following your channel for a while, but one day i was talking with a friend about building a dog robot, and now you upload this!!!
Seems like with every new project you are putting more and more effort into the planning stage before you start actually building it. I'm lookign forward to see your progress with openDog. It has a lot of potential:) And thanks for your explanation that makes it accessible even to people who are not that versed in engineering.
Do you knkw how to buy the parts?
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What an awesome start! I look forward to building this (in a few months time). I love the fact that you go into details. The more, the merrier 😊
You are toooooo awesome. I admire the amount of planning and clarity you have about getting about the prototyping at this stage of the project.
The best youtube content ever... Thank you for all the details James about the choices and what you are planning to do and why...
I've been starving for a new robot build, it's so satisfying seeing you learn from mistakes from previous builds. Keep up the good work James!
Bloomin' brilliant James. This is going to be epic!
This will be the Spot mini of the Internet!!!
This is very big of you to make it fully open source, there's an awesome community which could make this absolutely fantastic.
I just hope no one takes the credit (and money) for it in the future.
Fantastic idea with the triangle!
One of the best maker out there still humble as hell.
Yeah he's so humble man.
So hype for this series!
I am so great full for your open source work, it means a lot to people to have access to knowledge like this. Thank you! I am so excited to finally see someone code inverse kinematic for a dog like this, it has been hard for me to find good info on inverse kinematic for 3d motion like this.
Just bought my first odrive minutes ago, already thinking I'm going to need at least a half dozen more. Keep up the fantastic projects!
Very excited about this project James!
I'm very excited about Open Dog! Thank you for your amazing work!
Finally actually interesting project that I want to follow very closely! And huge thank you for making your projects open source!
Looking forward to this one. Should be fun. The rods that connect the thigh bearing (lead screw?) to the hips/shoulders will have to be pretty strong to hold up all that weight and have the ability to move freely without jamming due to all three axis having an effect on it at all times. Nice design! Cheers!
Rotots are back. Yay James. 👍👌
Absolutely LOVED this video, James!!
I’ve learned so much in just one episode.
Really looking forward to this project. I’ve not liked every one of your projects (sorry), but this is brilliant.
Well done for creating such a brilliant project.
I’m going to give to you via Patreon based on this project.
👏👏👏👏
Awesome video. James doing what James does best!
This is an amazing idea for a series. Can't wait for the next vid. TkEZ
Very brilliant project.Thanks for sharing your work. looking forward your next video:)
This is so exiting! I have 4 legged robot project also. It is lot smaller and uses micro servos though. Inverse kinematics is so much fun!
I love how your face suddenly appears on the wall behind you at 11:19! That made me smile.
I love this new project! Cant wait to see this come to life!!! James, you are a wizard! :) Thumbs up as usual!
I'm looking forward to the next parts :D Awesome work man!
This is going to be such a good project, I really like the way you’ve decided to probably cad and test the inverse kinematic before starting building and that it will be open source from the beginning which will make it much easier for people to help along the way and improved it once you’ve gone as far as you can go. I can see someone putting Lidar and AI info this!
Wonderful video Jim!
Epic, can't wait for part 2!
OK, this is really cool! This is really exciting, and I like the new approach you're taking!
My head popped awesome build
welcome back!
"This is easy to explain if i am pretend to be a dog."
This is something we don't hear everyday. heheheh
Awesome project btw! Really good stuff.
This.. is.. SO EXCITING!!
Very cool to see verification of the math using Fusion 360
Thanks for sharing your project! I get so inspired to continue working on my dog robot, although its nothing compared to your amazing work.
You make the best content! Thank you!
So excited 'bout this!!!
I really like this more precise and scientific approach!
This is AWESOME!
I love just watching your videos, dreaming about being half as clever as you one day :) God bless you man you are fantastic
Brilliant! Thanks for the video.
O Drive is AMAZING.
This is an outstanding idea
This is gonna be badass...
trigonometry very early in the morning is not something I can deal with. Looks like an exciting project. Cant wait till you build it and get it running around.
Fantastic engineering work, congratulations
Now this, I can get behind!
I'm really impressed with how your engineering has come along in the last few years.
I'm hopeful that since your code is now open source, a C++ developer will improve your code with functions etc. :)
I definitely enjoyed! Thanks!
You earned yourself a new subscriber :)
Great explanation ❤
Good timing on this project, since I've recently started moving forward on my 3D printed hexapod walking robot project. You're bringing up subjects that I've been working with as well. I'm going to enjoy seeing how you overcome some of the issues I've been having to work through.
Also, kinda weird how we both picked basically the same joystick for remote control. :)
I've been searching a lot around for joysticks like those, can you please tell me the name or some way to look for similar joysticks?
That would be awesome and greatly appreciated :)
Great work
This is awesome !!!
As always great stuff bud - really looking forward to seeing this one progress though I wish I had the budget to consider making one too!
thank you for doing this
Holy crap. Absolutly amazing. I like the usage of the odrive. Should give you a blazing fast and accurate robot. Loving it
Fantastic idea
You are my hero!
very cool new projekt like it
Keep going and Boston Dynamics will one day hire you for sure!
Amaziiing
this is so awesome
Really cool project
Great project. Those motors and encoders seem ideal.
I think you got a really great channel and doing a really great job
Cool video! I'm curious to see the final product!
for the feet how about one of those Carbonfiber Springs, springs like runners prothesis..
You have really inspired me I’m gonna do engineering
Everytime i see that little robotic arm i remember you saying waaaaay back about building the iron man suit up gantry. I think it'd look good in lulzbot green 😉
Very cool, I just found your channel and I'm excited to follow along this build and get caught up. Thanks for sharing!
thanks, there's been a bit of a break in the series, but I'll be back on it really soon.
You could pull the model into Unity and simulate it in there as an additional stepping stone to making it in the real world. It may also enable you to test out some walking gates ahead of having all 4 limbs operational.
Building a rigid body model in the URDF and simulating in Gazebo via ODE, Bullet or Dart could be a good solution. It might be way more work than just building it and testing it on the real hardware.
Blender would be better for an open source project.
Another useful one is Sletchup with Sketchyphysics, it is a full on physics simulation which is easy enough to set up.
It can't replicate material behavior but for testing a rigid mathematical model it should be spot on.
There even are exporter scripts for Fusion360 -> SDF / URDF so you can then test it in Gazebo.
Still requires manual work though
and there are also plugins for Rhino's Grasshopper to directly read from arduino to drive the whole model in real time from the remote. but I think that its great your just getting a proof of concept and going to hardware. as long as its working how you want go for it!
You are amazing!!
love these
I wondered how long it would take you to come up with a cool use for the O-Drives!
In the 90's I built a 'robot dog' to test some ideas. Some of my conclusions might be useful. I used a GA to evolve the walking gaits, trailing a PC mouse behind (to measure distance moved) so it could measure the 'goodness' of each evolution, evaluated by comparing distance travelled to power consumed in a certain time.
The 12 Axis version worked, but the gaits were 'lumpy' and slow. The evolutions were keeping the CofG within the triangle mapped out by the three feet in contact with the ground - which achieves good stability. Falling over gave a poor measure of 'goodness' - so it evolved a stable but slow solution.
Adding a movable mass, initially on a 2 axis X/Y arrangement improved the apparent smoothness and efficiency. I tried a 2 axis 'tail' to shift the CofG - which worked just as well as the X/Y. This meant it could sustain an otherwise unstable position for longer without falling
Originally, my drivers were position based - the controller was commanding a position for each axis. The biggest improvement was changing to a force control algorithm where the controller could read the axis positions - but the control was just the amount of current delivered to each motor. The best gaits came from just sequencing bursts of current.
I didn't have access to gyros, nor the computing power available now. Also, the motors didn't have the dynamic performance to use gaits where it's in a continual state of falling. I have no doubt that whatever you come up with - it will be cool!
wonderful
cool video...will be waiting for more vids from you....
This is quite inspiring. Makes me want to try designing a robot 😃
awesome project! if you make this work its gonna be jawdroppingly impressive!
odrive is picking up so much traction lately. Im excited
Since they're an American companty, won't there be import taxes if you're buying from the EU?
@@Mountsom3 it's open source you can make your own or order them to be made for you
Great work, please continue the humanoid robot, it is very good!
James I notice you convert from degrees to radians using some numerics. If you use the fact 4*arctan(1) = pi, you can eliminate some inaccuracy from floating points and rounding. Usually the syntax follows as :: 4*atan2(1) :: in most languages but your mileage may vary.
I understand that the integer estimates yield better run times on code, but just thought id say!
Love the videos,
Keep it up!
that's awsum Video ..!
Awesome.
I'm so going to follow this one😇
"Ita easier to explain if I pretend to be a dog". Isnt everything.
The quote to win second place is: "Lets just assume this giant lego man is my robot dog for now"
It’s isn’t
Wow, this is fascinating! Great job walking through how it all works and what your thinking is. BTW found you through the Hulkbuster project with Colin. The kids and I had a blast following your work on that project and will do the same with this. Subscribed.
As someone who's gone down the path you're going writing software for controlling a robot arm, it ends up being a lot easier in the end if you set up DH tables, and doing the kinematics with matrix math than trying to think about how to do it with trigonometry. If you do it that way, then you also gain the freedom of not having to do things like making the segment lengths the same or keeping the axle of rotation in line with the ball screw in order to kind of cheat to solve how to move in a straight line.
Fascinating to the Nth degree.
You said at 4:34 that they are 2kW motors @50V, and you are going to use them at 24V. P=V^2/R, therefore at 24V these motors will be drawing about 460W (rather than 1kW). I am guessing this will be enough, just thought it was worth pointing out.
ps your videos are always really interesting to watch. Thank you.
working on it too!
To stop feet snagging on forward motion , you’ll need to have a midway transition for each leg to allow it to swing forward
I'm liking the fact that some of the newer/more complicated projects are getting a pre-planning phase to minimise issues further down the line and definitely looking forward to the chaos this project may offer as it progresses.
Another great project, James, but beware of aluminium with an I haters, excessive silly thumb nail smile haters and excessive cable waiving to upset delicate folk hahaha!
Great James.
Nice work can be done using Ros with Kinect.
I'm following...
Do you have a link for those joysticks?
Hmm, this discussion has me thinking about the value of FPUs and GPUs. :) Anyway, I can't wait to see how this project progresses. Good luck! :)
Have you considered using a hall-effect sensor to determine the exact position of the motor as opposed to an encoder? They are much easier to install.
Your one brainy guy, good work
Very very cool James 👍
This could be an excellent opportunity to move up to Raspberry type SBCs and RS485 communications. I don't think you will lose the audience. Also planning ahead to make an uber-clean harness would be real nice.