Quadruped Robot Prototype - Maia - Video2
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- Опубліковано 30 вер 2024
- Maia is a prototype Quadruped walking machine.
I have much improved the smoothness of the body movement as it has to continually adjust it's C of G so it doesn't fall over. I have also worked out the code for turning and translating. Total build cost so far is less than £300 GBP. Built using an Arduino, Lynxmotion SSC32 and 16 cheap robot servos from e-bay. Further videos will be posted as improvements are made.
That is very nice work! Do you have a webpage/blog of the build? I would love to see the code, as I am in the first stages of making a Arduino Quadruped :)
Hi Martin, first of all, sincere congrats for a great project ! Being also in the process of building a quadruped, I would like to get your feedback about the way you managed the COG. Apparently your walk gait is continuous (ie you lift a leg while the body is moved forward by the other 3 legs) and your robot is much more stable than mine. You can look at my first experiments here : goo.gl/DKQ7eH and goo.gl/j54AtX thanks in advance for your feedback, Philippe
Great Work ! ,
, and cute child ^_^, God Bless her
I would like it if you could tell me the type of the servos you used
and was it Arduino uno or other advanced Arduino chips
Regards :)
Great Robots! I'm still programming gait and balance pipelines on mine :)
ua-cam.com/video/WjK6f4LY458/v-deo.html
I don't get it why the 3 dislikes? This is just such an awsome project and a good video. Like+1 Sub+1
Haters gonna hate...
Must have been a luddite.
i am trying to figure out the solution from last month but didn't found any useful.
too small step
That is awsome :) can YOU HELP ME. I have also build a quadrupt bot using MG995 tower pro servos.i made the codes and it started walking ,after some time the motors went to initial state (0 degree) don"t know why? I tried a number no time but the problem remains.Can you help me to solve the problem?
Hi, I think this is incredible especially considering the price range and size. Would you by any chance be releasing the code, CAD files, lists of parts and other things upon completing it?
2 leg front is revers to make dog
This is totally awesome. Like seriously. I need to try this. Can you please send me the project and code so I can study and emulate it. Email here. Thank you so much I can't wait. This is super inspiring.
sharkbite82@gmail.com
Wonderful project! May i know how you make the robot leg? By 3D printing? I am now making a 4 legged robot, struggling what leg design should be used. :(
This is amazing work! Do you have it trotting yet? Looks like it is fairly sturdy and can hold a decent amount of weight!!
Have you used a gyroscope or you will? And can the robot crawl on different terrains by adjusting its gaits?
I love your robots, are you building any other? What do you consider, would be a minimum setup for a home lab? (CNC, 3D Printer, etc)
Hey! Is there any way to get in contact with you to ask more questions about the build? I'm trying to build a quadruped similar to this and would like to try to get a little guidance from you since you look like a pro :o please let me know and hope to hear from you soon! The robot looks amazing btw 🤟
I'm amazed those are cheap servos running that thing.
Any updates or project website on this? Looks like a really promising, hope you did continue to work on it :)
Congratulations on the work !! I do not know if it would be too much to ask, but please, if you can send me the project and the code of this theft so that I can study and learn to develop an identical
joiasalbuquerque@live.com
I'm waiting for updates!
How are you powering up the servos? And how many servos are in this project?
Very nice work! please open source the code and CAD files :)
How much did this cost to build? I would like to know because I want to build my very own robotic dog.
Hey says in the description... converting to USD about $375 in parts and probably a lot of time.
Sorry 'bout that, I didn't notice it. Thanks!
Do you happen to know the weight and servo torque rating??
What are those spring dampers for? M unable to get it🙄
Its amazing, what is the various of servo that you using?
What software did you use to help with prototyping?
Nice work! Can you give more information e.g code
What kind of battery do you use
Mind sharing the build/ code?
that's f... great Work! Congrats.
chaos space marines or dark angel ? Great work man
Hows this project going?
Btw instructables plss
what type of battery do you use to move?
+Martin Turner Hello! Just curious how did you make the frame for the robot itself? It looks really amazing!!!
Hi Mr Ginger. I built myself a CNC Machine last year and i have a 3d printer. Frames based around 2 carbon tubes.
Martin Turner Gotcha :) Once again it looks and performs great, congrats!!! Thank you also for the reply :)
Do the legs use hydraulics?
No. However there are springs which have not yet been enabled as they were causing to many problems. Next step is to enable them to give it more spring in its step.
@@eztarget7246 hey, is there any way to get in contact with you? I'd like to ask a few questions regarding your build :o
awesome!!! thats a nice robot, i made one quadruped too but is like a spider, im subscribe to you channel :D
+El Xed Thanks Man..
How did you build the frame, where did you get the frame parts? Nice robot btw
Frame was custom made by myself.
Do you have a project page? Do you intend to opensource your design?
This is impressive, have you considered using an IMU and PID loops for dynamic stability?
Thank you Will. I haven't worked on this for a while now. I did put an IMU on it, but i haven't managed to get it to do anything useful in terms of stability. There is also pressure sensors in the feet which i have never got round to hooking up. Can you explain PID loops ? - Added - Just been reading about this. Not sure how to start though.
PID is literally Perportional Integral and Derivative, you need to know a bit of calculus to understand them. Calculus is all about rates of change and using a PID loop can allow a robot to more accurately control the speed, acceleration and position of it's motors... most PID loops for hobby robots are written for 2 wheeled balancing robots so those are a good place to look.
See here for a fairly decent explanation of that the P I and D are and do in a robot arm system .. en.wikipedia.org/wiki/PID_controller#Control_loop_basics
PID looks are commonly used for maintaining a speed with a variable load, or balancing etc...
Martin. I am astounded at how good this works given that you (if you ask this question) know not even the basics of control theory. No insult intended. Stability in dynamic system is a specialty area of applied mathematics.
Likely the simplest way to start is to look up the PID library at the main Arduino web site. It is very well documented.
As for the IMU, they are hard to use. You need to sample them very fast and average to get rid of noise then a complex algorithm is used to "fuse" the data to turn all those rates into the current position or roll pitch and yaw. By a 9-axies IMU that has a compass as it is used to address drift.
Finally the PID library looks at the difference between commanded position and IMU measured position and sends commands to motor to correct the difference. The trick is tuning the PID so as not to overshoot or oscillate.
PID sits between your hand controller and the motors. You tell the PID lord the desired set point and thePID loop computes what is sent to the motors. But you need good sensors that can measure the error for this to work.
You need this if you are ever to walk on uneven ground and not fall over.
But you might just go with using some other software where this is all worked out ROS (Google ROS) may be best for high level control.