SAMSA II - Advanced Hexapod Robot

SAMSA II
An hexapod robot with 18 AX-12 servos, controlled by an Arduino Mega board.
It features advanced walking routines, full 3D body movement, etc.
C++ code developed using AVR Project IDE.
(c) 2011 by Pablo Gindel & Jorge Visca, Montevideo - Uruguay.
More information at: www.pablogindel.com/trabajos/s...

[@savage3221]

Incredible. It moves so well. I can only imagine what could happen if tech goes this direction.

[@ZentaRobotics]

Great work on the kinematics!

[@shakerobo]

amazing work!!!!!
excellent fluid movements!!!
is the arduino mega doing all the processing and control of the hexapod?

[@PabloGindel]

@shakerobo, thank you very much for your comment.
Yes, the mega is controlling everything walk-related. With more detail, there's another atmega168 in the head for controlling the sensors, including the receiver for the IR remote. The display is also run by a separated micro. And, each AX-12 servo has an atmega8 inside, so the total processor count is rather high :)
bunsencharles hace 1 minuto

[@FaruqSandi]

awesome work!
waiting for quadruped! :D

[@PabloGindel]

@ZentaOlbaid, Hi, thank you for your comment!
I'm a big fan of your A-pod robot, indeed.

[@NoTobaccoAds]

Reminds me of the acid spiders from Runaway, an 80s SciFi film with Tom Selleck

[@ZeroBlitz36]

I like how it is streching his legs :D . Kinda like a crawler.

[@arayarock1]

muy buen trabajo..me estoy iniciando en programacaion c++ y quisiera saber ...como calculan la cinematica inversa y luego ese codigo lo transformas a c++??

[@PabloGindel]

Si sigues el link que está en la descripción de este video, encontrarás una breve documentación donde se explica, entre otras cosas, de qué manera se resolvió la IK. Al final de la página vas a encontrar un link al código fuente del robot. La parte de IK está en el archivo "mov_bajo_nivel.cpp"

[@positronstuff]

This is the best hexapod locomotion I've ever seen! It's awesome! Did you program it by intuition or did you read some books/courses on the subject?

[@PabloGindel]

Hi Positronstuff, thank you. I didn't read any serious book on the subject, only Wikipedia, and I have watched many videos and read some forums about hexapod robots. My partner Jorge helped a lot with locomotion algorithms, I think he read some paper on insect locomotion, published in the Scientific American in the 80s. Since three years ago I'm trying to make a new version of this robot, with even more organic locomotion algorithms, but I have nothing so far. If you want to help, you're welcome.

[@PabloGindel]

@scifiboi1
Well, actually sometimes it shows the name of the key pressed on the remote control, that has nothing to do with the function assigned in the robot.

[@sabamacx]

Great choice of Monolake music. :)

[@mertgunes9854]

Cool that you named it after Gregor :)

[@PabloGindel]

@scifiboi1
They say things like: "Walk", "Velocity", "Gait", "Translation", "Rotation", etc.

[@PimbaPimbaTheBeatles]

Groso!!! ese vice aca al otro lado del charquito? se lo puede visitar?!

[@PabloGindel]

@Edwin Pinzon: yes, they are.

[@scifiboi1]

What do the scrolling words on the LCD say?

[@magnuswootton6181]

good job! id say this one is on the level of zenta (Kari H.)

[@PabloGindel]

Thank you, Zenta is level god of hexapod robots.

[@furiousstylesjay12]

where can i get one!!!!

[@Infinitoid]

very kewl

[@SergioGore77]

I try to use more than 4 Dynamixel AX-12+ with arduino mega but the engines don't run if i put less engines than 4 it works. can you help me?

[@nick26358]

why is it so close to the ground.

[@PabloGindel]

@ahamedBacar Yes, code is published under LGPL license, and you can download at:
w w w . pablogindel . com
(avoid spaces)

[@MicroGTpic]

There is a solution based on Micro-GT mini board using a PIC microcontroller. Here under i post the Schematic, book, example in robot's hand.Micro-GT mini is a 14 channel servomotor controller.

[@MicroGTpic]

www.lulu.com/shop/marco-gottardo/lets-go-pic-the-book/paperback/product-20373044.html

[@MicroGTpic]

www.gtronic.it/images/Micro-GT%20Mini-schema_e_Layout.png

[@MicroGTpic]

+marco gottardo www.gtronic.it/energiaingioco/it/scienza/cap12_RobotHandV2.htm

[@edwinpinzon5544]

are those AX-12 servos from dinamixel?

[@FaruqSandi]

+Edwin Pinzon aha, yes.

[@ahamedBacar]

hey
Do we can have the code source of your project ?
cordially

[@PabloGindel]

@Sergio_Gorest: Most likely a power supply issue, I think..

[@monsterx3055]

this is so fucking dope

[@DavidCoptil]

The Led Display is useless..what ever, looks awesome

[@PabloGindel]

~$1000

[@PabloGindel]

1 people has arachnophobia

[@ggeasy8499]

"advanced hexapod" uses arduino mega...

[@PabloGindel]

back in 2010, it was...

[@ggeasy8499]

@@PabloGindel oh alright then !