Excellent... I would not have thought of your solution to the servo "jitter" problem! When it is finished, I recommend that you don't let it loose on a dark night... some little old lady will take one look at the light display, and soil her knickers! 😜
@@SirKuhnhero lol you should give a try. You'll be the first in the world I think that will have an ai bot like yours running around lol. Probably would freak some people out seeing something like that walking towards them at night haha. 🤙✌️
Question. How do you calibrate the servos and at what angle do you have the legs when calibrating as this would have to be done whilst building each part of the leg.
When assembling the legs I made sure the angle of each joint is about 90deg. Before I assembled the leg I also positioned all of the servos to be at a 90deg angel (considering the servo can move fro 0 to 180 deg). After that there is a small offset variable that allows me to fine tune the angle to compensate for slight changes or inaccuracies during the building process.
Hello, from Justanothermakerchannel's design, J1 and J2 servos are aligning and inverse kinematics calculated for this, if they don't align, like your design. Which calculations are change in the inverse kinematics ? Like Topview's Hypotenuse H = H minus distance between J1 and J2 and all ok ?
You are correct. The Calculations for H need to be slightly changed to H = H - “distance between J1 and J2”. I also made a small change by first converting all the Coordinates that the legs need to reach (leg origin to leg endpoint) into local coordinates for each leg since they are mounted at different angles. Hope this helps :)
The GND outputs of the buck converters should be joined together as they are both separate power supplies. It's like when using a 24v and 48v power supply on a 3D printer. The -ve output on the power supplies are joined to remove interference@@SirKuhnhero
Do you mean Upgrades I would do to a future Version? I would mostly try to make the leg more repairable. Right now replacing a Servo takes more time than I would like since you need to remove the LEDs to do so. I would also like to add a foot sensor. This could allow the Hexapod to walk more naturally on uneven surfaces.
@@SirKuhnhero Your unique leg design caught my attention; I'm curious, have you tested its capability to climb stairs? Also, if there are any other challenges you've encountered with the leg design or any other aspect of your hexapod that you'd like to address for improved functionality. Other than 3D printed parts can you suggest good material for making hexapods. Your perspective on enhancing the design is invaluable!
I did not test its capabilities of climbing stairs. I doubt it can climb normal human stairs, it is just nor large enough. One of the issues I have with my leg design is repairability. This is mainly due o the LED strip since I need to rip it of when I want to replace a Servo. Also routing the cables inside the leg looks awesome but is annoying to work with. Another Issues I have is Power. I underestimated the amount of current each servo draws. This gets really noticeable if I want to walk faster.
Wow, Please add at the description of the video part numbers and models of the electronic parts. It would be realy helpful and useful. And it would be great to get .stl files of 3d printed parts. And all requirements as well. And code too)))) Great work!
Hey, I’ve also just recently built a hexapod, and the way I lessened the overshooting of the shoulder motors is by having one of the PCA servo drivers only power the shoulder joints and with a lower voltage. The other driver would power every other servo and do so at a higher voltage. That way you could maybe lessen the mechanical dampening and have a bigger efficiency.
I should say though that I also plan on adding some mechanical dampening, because at times when I make the robot stop suddenly it still jitters a bit. Maybe when your mechanical dampers wear out, you can lower the voltage instead so you don’t have to disassemble the whole thing every few weeks or so.
Thanks, let's hope so :) Overall planning took about 2-3 weeks. Construction and testing took another two months. However, a lot of that time was also spent itterating over leg designs and testing how they work. Filming and editing also makes these things take a lot longer.
Removing the bottom cap is brilliant, elegant mod to save space and integrate your servos. Well done, thanks!
the rgb is the secret to make it work well
It will definitely make it run faster :)
Excellent... I would not have thought of your solution to the servo "jitter" problem! When it is finished, I recommend that you don't let it loose on a dark night... some little old lady will take one look at the light display, and soil her knickers! 😜
Agreed. Who knows what it might do if I don't keep a close eye on it.
Dude, that's a badass bot you made.
Wondering if you can integrate an ai system in it?
Great vid 🤙
Probably not with the stm32 that I am currently using. If I where to use something like ROS running on a pi it would be much easier.
@@SirKuhnhero lol you should give a try. You'll be the first in the world I think that will have an ai bot like yours running around lol.
Probably would freak some people out seeing something like that walking towards them at night haha.
🤙✌️
It's definitly on my list of future projects :)
Question. How do you calibrate the servos and at what angle do you have the legs when calibrating as this would have to be done whilst building each part of the leg.
When assembling the legs I made sure the angle of each joint is about 90deg. Before I assembled the leg I also positioned all of the servos to be at a 90deg angel (considering the servo can move fro 0 to 180 deg). After that there is a small offset variable that allows me to fine tune the angle to compensate for slight changes or inaccuracies during the building process.
Hello, from Justanothermakerchannel's design, J1 and J2 servos are aligning and inverse kinematics calculated for this, if they don't align, like your design. Which calculations are change in the inverse kinematics ? Like Topview's Hypotenuse H = H minus distance between J1 and J2 and all ok ?
You are correct. The Calculations for H need to be slightly changed to H = H - “distance between J1 and J2”.
I also made a small change by first converting all the Coordinates that the legs need to reach (leg origin to leg endpoint) into local coordinates for each leg since they are mounted at different angles.
Hope this helps :)
@@SirKuhnhero Thank you so much ! im in the process of the making custom pcb for the robot. i hope i can succes like your robot :)
Best of luck :)
HI great project!!! How can we recharge the batteries?
I used XT-60 connector to be able to disconnect and recharge it :)
Did you try and join the common lines coming out of each buck converter as that could possibly solve the interference problem
What exactly do you mean by common? Do you mean GND? If so then they are already joined.
Thanks for the suggestion though :)
The GND outputs of the buck converters should be joined together as they are both separate power supplies. It's like when using a 24v and 48v power supply on a 3D printer. The -ve output on the power supplies are joined to remove interference@@SirKuhnhero
Dude the leds look so good
Couldn't agree more :)
Do you have any unique design feature that you think could enhance the functionality of hexapod robot
Do you mean Upgrades I would do to a future Version? I would mostly try to make the leg more repairable. Right now replacing a Servo takes more time than I would like since you need to remove the LEDs to do so. I would also like to add a foot sensor. This could allow the Hexapod to walk more naturally on uneven surfaces.
@@SirKuhnhero Your unique leg design caught my attention; I'm curious, have you tested its capability to climb stairs? Also, if there are any other challenges you've encountered with the leg design or any other aspect of your hexapod that you'd like to address for improved functionality. Other than 3D printed parts can you suggest good material for making hexapods. Your perspective on enhancing the design is invaluable!
I did not test its capabilities of climbing stairs. I doubt it can climb normal human stairs, it is just nor large enough. One of the issues I have with my leg design is repairability. This is mainly due o the LED strip since I need to rip it of when I want to replace a Servo. Also routing the cables inside the leg looks awesome but is annoying to work with. Another Issues I have is Power. I underestimated the amount of current each servo draws. This gets really noticeable if I want to walk faster.
Wow,
Please add at the description of the video part numbers and models of the electronic parts. It would be realy helpful and useful.
And it would be great to get .stl files of 3d printed parts. And all requirements as well. And code too))))
Great work!
Will do that once the entire Hexapod is working :)
please make an english version
?
Cool, im gonna steal your idea of removing the back cover of the servoes and integrate them to the legs better 😊
Go for it. If it helps your Project I am happy you got that idea from me :)
Good stuff!
Thanks!
I really hope the sentient AI retains the RGB on the new killbot design. 🎉
If they're wiping out humanity, they should at least do it in style.
Hey, I’ve also just recently built a hexapod, and the way I lessened the overshooting of the shoulder motors is by having one of the PCA servo drivers only power the shoulder joints and with a lower voltage. The other driver would power every other servo and do so at a higher voltage.
That way you could maybe lessen the mechanical dampening and have a bigger efficiency.
I should say though that I also plan on adding some mechanical dampening, because at times when I make the robot stop suddenly it still jitters a bit.
Maybe when your mechanical dampers wear out, you can lower the voltage instead so you don’t have to disassemble the whole thing every few weeks or so.
That's a pretty good idea. At the moment my dampers are working pretty well, but I might try this in the future.
These videos are going to get viral very soon🎉
Great video!
Btw, how many days did it took to create it?
Thanks, let's hope so :)
Overall planning took about 2-3 weeks. Construction and testing took another two months. However, a lot of that time was also spent itterating over leg designs and testing how they work.
Filming and editing also makes these things take a lot longer.
Did you made this in vacations?
Yes. I had about 6 Months of free time before uni started.
Nice invention ❤❤🎉
Thank you :)