UA RNSL Intel Hexapod: 3D Balance Gestures
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- Опубліковано 4 лис 2009
- Website: www.12centdwarf.com
Twitter: / blegas78
Hexapod robot designed at the Robotics and Neural Systems Laboratory (RNSL) at the University of Arizona.
The hexapod is using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 with Intel Atom Z530 Processor computer running Ubuntu 9.04, with a custom PIC18F4550 based USB board to pipe motor control protocol.
This is a demonstration of the new leg design which is much more solid than the previous design. Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison.
The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.
Inverse kinematics is used with a dynamic walking gait. The dynamics still need work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.
Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF. - Наука та технологія
You are a star!. AOL has your story posted in their news. I am sure your video will go viral now. That is awesome. You don't really need any luck... with talent like yours success is in the near future.
I did all the software myself, both for the PIC18F4550 and on Ubuntu 9.04. The Fit-PC2 performs the inverse kinematics, dynamic walking gait, and balance gestures. it also connects to the PS3 Sixaxis controller.
The PIC board takes advantage of the USB hardware peripheral in the PIC18F4550, and simply sends motor control protocol to each motor. Each position of each motor is calculated on the Fit-PC2, and is sent to the motors via the PIC board, so I can control the motors individually.
No worries!
If you have the right tools, you can add whatever you want. The kits may not be designed to implement additional things like arms, but you can always figure out a way to mount it to the hexapod body yourself.
Thanks!
The music is my own composition, first attempt at a flamenco-rock style. It won't please everyone though...
Thanks. No doubt will drop you a line later in the course and let you know what i have done. Thanks for your help.
The locomotion's almost perfect, except it drags it's feet a little... Wonderful 3Dprint job :D Well done
Dance, spider, dance!
Lovely work.
The balance makes it look alive. Might be stating the obvious, but I had to say something before someone mentions the "uncanny valley" :P
Thanks! I have since upgraded the motors and increased the foot lift height, so it runs quite a bit smoother now. This is version two, and I'm currently on my fourth version.
amazing dexterity.
@aguirrea Configuring the USART largely depends on the oscillator frequency. I have a 48MHz oscillator (FOSC), so to communicate at 1Mbps I set the baud rate register (spbrg to 2 ( solve this: FOSC / (16 * (spbrg + 1)) = baud rate). Other than this, make sure you have one stop bit, are sending only 8 bits, and are in high speed mode. Google MCC18 library and use those functions if you can. Good luck!
For the Fit-PC2, everything was done in C++.
For the PIC board, everything was done using MPLAB with the MCC18 compiler.
I am currently adding vision to the robot for autonomous behavior, and batteries will be added purely as a nicety in a few weeks. Good luck with your Masters project, I hope I have helped!
@Gniddelrulez The hexapod has it's own computer, and all I use is an SSH client to start things up on the hexapod. I have an SSH client on the iPhone, called TouchTerm. I use my Macbook usually though, using terminal with the "ssh" command. The iPhone and the Macbook do not do any control though, all they do is start up the hexapod software I created.
Congrats on your fantastic work and getting recognized by intel and crustcrawler! Makes me wish I was a genius too :(
Also the video is somehow very hypnotic btw lol
FYI You can program the FIT PC (and a hexapod) using FlowStone DSP graphical programming language from DSP Robotics. It's a free download!
@lordK2323 Not all clock frequencies will work, but some may be close enough. I think +/- 5% error is considered ok. You can check this by plugging in the rounded number used for SPBRG back into to the formula to calculate the actual baud rate. You can then calculate the error by (actual - desired)/desired*100% = %error. I think that you might have too large of an error. I think that a 32MHz oscillator will match the dynamixel bus perfectly though, for all baudrates.
Wow, I'm glad people like it!
If you want to send me a private message, I hook you all up :)
The servos I used actually do not use PWM input for position control. These motors are controlled through a serial protocol, and each motor has a unique address. All I need to communicate to all of the motors is three lines.
You can use any microcontroller, but you may not be able to use all of the hardware peripheral PWM's, instead you will need to program software PWM lines by using timer interrupts. you may want to check out hexapodrobot . com
Thank you very much!
You can as long as the servos fit, but you can always customize everything.
Also, I think the kit you are referring to may not include motors,
@mark11original You don't need three types of servos for any reason. I just like the Dynamixel motors because it is possible to read their state through the serial protocol.
The 645 servos are great for hexapods
It's fine to go minimum performance, and you can upgrade over time. I would say the next step for upgrading would be:
12x HS-645
6x HS-245
Whatever your budget permits :)
this is amazing
Hey. Really impressed with your hexapod. I am just about to build one for my Masters project. I am a little lost with the system controller. I like the idea of using a Fit-PC2 with Ubuntu 9.1. What software did you use to control the robot? How did you create a PIC 18F servo controller? Is it possible to controll each legs position?
Any help would b greatly appreciated.
Thanks!
Indeed!!
All it needs now is a torso-mounted turret ;)
Thanks for the reply. What software program did you use to program the heapod?
Are you planning on making your robot autonomous? Or free from an external power source?
Thats excellent. I want to build a Hexapod, just wondering why do you need three different types of servos? (AX-12, RX-10, and RX-28 servos) I am a beginner at robots and I have only used servos with 3 wires (Hi Tech 645 servo), would these be good enough or should I get better ones?
@blegas78 It's very good! I'm thinking it would make good music to program to. Is it available for download elsewhere?
Hmm, I actually think that as a minimum you can use
6x HS-645
6x HS-445
6x HS-245
You only need 18x HS-645 for the best performance.
If you are not an expert at coding, then check out the p.Brain HexEngine from the site I said above. It is a completely pre-programmed system for any custom sized hexapod, so you don't need to code as much.
yeah i just saw this on AOL. I never thought it was possible, until now. Only one other idea to add. If it were to be made bigger and added a gun/weapon. Then it could be used in the US Army! Thats my plan: robots in war not humans!
This is amazing! I want to build such robot, but as a complete newbie I could find any information how to find a microcontroller that will output at least 18 PWM lines for the spider legs. Could help me and advice where to look for information how to build the controller 18 PWM lines?
Not mentioning a PS3 pad, but I think this is for later :) but I determined to build such a spider!
Great Job, Congratulations!
I'm trying to control an AX12 motor with a pic18f4550 and I have troubles to initialize the serial port at the baud rate the AX12 need, I will be pleased if you could post or send me a snippet of code with the serial initializing of the pic18f4550 to properly work with the ax12
best regards
Andrés
Now make it run. ;)
Nice video! What is the music from?
I guess the biggest problem right now are the batteries! :D
Where can i find this music please?
i have 0% of knowledge about building robots but this is my goal, my dream, and my future to build robots and major in robotics and become a robotic engineer. Where should I start?
How much do they cost?
quick somebody grab a SPAS12!
ROBOTSSSS RULLLEEE!!!
look up BIG DOG
Wow, that's probably a very expensive piece of equipment. Check out what Odbot has achieve with some chopsticks and plastic:
watch?v=7hG6Amnb9Mo
No, expensive 3D printer, no expensive 3D modeling software, no expensive servos, and he managed an extra 2 more limbs for eye stalks. So, his is actually a Dexapod.
hi whats is box black up in robot i´m brasileiro
@threepackbigmack How old are you? I am only in high school but I am on a robotics team (search UA-cam and google for Walton Robotics) and might be able to at least point in the right direction.
As shown, $2,500, but there's a lot of overly expensive motors in this one ;)
I highly recommend checking out a website that has a great forum and actual hexapod kits for sale for much cheaper than mine:
hexapodrobot (dot) com
Great, now make it the size of a tank , put some armor and a cannon on it and you my friend are rich.
No hexapod robot can move forward very fast yet.
Spiderman 1
Spiderman 2
Spiderman 3
Spiderrobot 4
:P
Not too fond of the music. Had to turn audio off to prevent going nuts. Song is much much too repetitive, boring, and generic. Would've loved to hear the bot walk though, it looks very nice....
Ok beta version completed. Now way bigger scale to build mouaaahahahaha
It's dam slow!!!!!!!!