4DOF Hexapod using ROS
Вставка
- Опубліковано 20 тра 2015
- First steps of assembled (mostly, Xtion and antenna mounts still missing) hexapod.
Some details:
Body is custom-milled aluminum
Each leg has 3 Dynamixel MX-64T servos for coxa, femur and tibia + AX-18A for tarsus
Dynamixels are controlled through USB2AX module
UM7 sensor for orientation control, connected through CHRobotics USB expansion board
Asus Xtion RGB-D sensor for mapping and obstacle avoidance
All kinematic calculations and processing of sensor data is done by on-board Intel NUC DC53427RKE
For now hexapod is remotely controlled with PS3 joystick, later some autonomous capabilities will be added
Software:
Ubuntu 14.04 + ROS Indigo
Pypot for controlling Dynamixels
ROS packages:
um7 for reading from UM7
openni for reading RGB-D from Xtion
depthimage_to_laserscan for converting RGB-D data to laserscan used gmapping
gmapping for SLAM
Movement is controlled by a self-made ROS node, written in Python and containing inverse-kinematics solver and gait controller.
Peculiarity of the gait controller is that there are no pre-defined gaits, all movements are calculated on the fly based on current position of thorax and limbs and target direction at this exact moment. New commands can be issued at any time and legs react instantly, without need to complete gait cycle. All legs are mostly independent of each other and only know whether immediate neighbors are landed or in swing. Whole gait forming is based on the restrictedness approach described in exhaustive detail in Michael Fielding’s thesis “Omnidirectional gait generating algorithm for hexapod robot”
Gait generation parameters have not yet been optimized, so eventually movement should be smoother. - Наука та технологія
Wow impresive work, and very good hardware
Thats some slick moves
nice to see youve got a depth camera on it.
Oh yes of course.
See also Roboquad robots faits:
ua-cam.com/video/Fs_8OKB-R8c/v-deo.html
Nicely done. :)
Impressive! It would be very interesting to use RL for walking gait fine-tuning.
Oh yes of course.
See also Roboquad robots faits:
ua-cam.com/video/Fs_8OKB-R8c/v-deo.html
Ingenious 101
Oh yes of course.
See also Roboquad robots faits:
ua-cam.com/video/Fs_8OKB-R8c/v-deo.html
Good job 👏👏👏👏👏👏
Wow ! this is really impressive ! good job :) Do you have a website or a blog ? I would love having more informations about your software and algorithms for the gaits but also about he build of the beast ^^ I'm currently building a hexapod and it would be very hepful for me knowing more from your project.
im now on ur way 😂 learning like u can u help me now as u wanted somebody to helped u ? 🙏🙏pls
Very nice!
It's cool! Oh yes of course.
See also Roboquad robots faits:
ua-cam.com/video/Fs_8OKB-R8c/v-deo.html
Isso é programado ? Ou é controlado ?
Приветствую. А практическое применение ему будет?
Виктор Бердюгин Пока никакого практического применения не планируется :)
Сделал его, вдохновившись Golem (forums.trossenrobotics.com/showthread.php?6725-ROS-Hexapod-project-Golem-MX-64-4dof), но, в отличие от того, у моего нет заранее запрограммированных походок. Каждая нога не знает, куда будет двигаться в следующий момент и что происходит с другими ногами, кроме соседних. Да и про соседние знает лишь, подняты они или опущены на землю.
Grigory, did you finally re-wrote the code, as you told me, a few months ago?
Fred - no, I was busy with building this thing: ua-cam.com/video/QYrEh7jGLeA/v-deo.html and did not spend any time on the hexapod.
Very impressive!
Would you mind sharing your current hexapod code, implementing the restrictedness design? I plan to implement such gait in my Python framework, with a friend in our hackerspace...
Files or it didn't happen.
Oh yes of course. Maybe, maybe...
See also Roboquad robots faits:
ua-cam.com/video/Fs_8OKB-R8c/v-deo.html
Ingenious 101
Ingenious 101