Bioloid with Kinect head and hands

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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Bioloid with Kinect head and hands

Post by sascha » Wed Sep 07, 2011 9:55 pm

Post by sascha
Wed Sep 07, 2011 9:55 pm

Hi,

I removed the upper torso and N900 (mobile phone) head on my bioloid and replaced it with the following:
- custom torso
- eBox-4300 mainboard (VIA FANLESS 500MHz Via Eden CPU / 1GB RAM)
- Kinect vision/head :idea:
- Phidget (USB) accelerometer
- USB-WLAN Stick
- USB2Dynamixel

Still missing are the hands, but a package from Canada is already on its way :wink:
Will post some pics soon.
Hi,

I removed the upper torso and N900 (mobile phone) head on my bioloid and replaced it with the following:
- custom torso
- eBox-4300 mainboard (VIA FANLESS 500MHz Via Eden CPU / 1GB RAM)
- Kinect vision/head :idea:
- Phidget (USB) accelerometer
- USB-WLAN Stick
- USB2Dynamixel

Still missing are the hands, but a package from Canada is already on its way :wink:
Will post some pics soon.
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Post by sascha » Fri Sep 09, 2011 9:52 am

Post by sascha
Fri Sep 09, 2011 9:52 am

Here are some pictures of my work in progress:
Image
Image
Image
Image
Here are some pictures of my work in progress:
Image
Image
Image
Image
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Post by haratron » Mon Oct 03, 2011 10:36 am

Post by haratron
Mon Oct 03, 2011 10:36 am

Excellent work. Please post your progress.
Excellent work. Please post your progress.
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Post by bluecat » Fri Oct 07, 2011 11:40 am

Post by bluecat
Fri Oct 07, 2011 11:40 am

amazing, will love to see more pictures and updates!

the servo's hold up with all this extra weight ?
amazing, will love to see more pictures and updates!

the servo's hold up with all this extra weight ?
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Post by ron » Thu Oct 20, 2011 8:56 am

Post by ron
Thu Oct 20, 2011 8:56 am

Looks great, I have similar plans.
Looks great, I have similar plans.
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Update

Post by sascha » Sun Oct 23, 2011 8:14 pm

Post by sascha
Sun Oct 23, 2011 8:14 pm

Hi all,

just a few hints, if someone is trying to build something similar.
I recommend to get a board like the fit-pc2. I had to squeeze in an additional voltage converter (5V) and a small USB hub (4 Port). Plus the VIA board isn't very powerful either.
With a board like the fit-pc2 you can avoid this hassle!

I did a few modifications recently.
1. I had to get the heat produced by the mainboard out of the torso. That's why I had to add a small fan in the back.
2. Finally the CustoBots hands arrived and got mounted

I made a little progress with ROS:
a) I could get the Phidgets accelerator values in a small program on the robot
b) For teleoperation I got the 3Dconnexion mouse produce some useful values
c) I started with the urdf construction of a robot model to feed ROS
Hi all,

just a few hints, if someone is trying to build something similar.
I recommend to get a board like the fit-pc2. I had to squeeze in an additional voltage converter (5V) and a small USB hub (4 Port). Plus the VIA board isn't very powerful either.
With a board like the fit-pc2 you can avoid this hassle!

I did a few modifications recently.
1. I had to get the heat produced by the mainboard out of the torso. That's why I had to add a small fan in the back.
2. Finally the CustoBots hands arrived and got mounted

I made a little progress with ROS:
a) I could get the Phidgets accelerator values in a small program on the robot
b) For teleoperation I got the 3Dconnexion mouse produce some useful values
c) I started with the urdf construction of a robot model to feed ROS
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Post by ron » Mon Oct 24, 2011 10:50 pm

Post by ron
Mon Oct 24, 2011 10:50 pm

I really love your build here. I just got my Roboard rb-110 setup and running, it's not in the bot yet but its fully operational running windows XP at the moment. My next upgrade will be a vision module Im thinking about the Havimo or possibly a cmucam3. I am new to robots and at this point am a better builder than coder. Luckily I am a fast learner.
Im curious what set of hands did you get from custoBots ?
It's another future upgrade, thanks.
I really love your build here. I just got my Roboard rb-110 setup and running, it's not in the bot yet but its fully operational running windows XP at the moment. My next upgrade will be a vision module Im thinking about the Havimo or possibly a cmucam3. I am new to robots and at this point am a better builder than coder. Luckily I am a fast learner.
Im curious what set of hands did you get from custoBots ?
It's another future upgrade, thanks.
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Post by MOHIT JINDAL » Tue Nov 01, 2011 9:22 am

Post by MOHIT JINDAL
Tue Nov 01, 2011 9:22 am

:D Again Excellent Work.
I am waiting for the Hands photos. :) :P
:D Again Excellent Work.
I am waiting for the Hands photos. :) :P
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Hands on - photo and video

Post by sascha » Tue Nov 08, 2011 9:41 pm

Post by sascha
Tue Nov 08, 2011 9:41 pm

Here is a photo of the mounted hands.
Image

And finally a short hands on video :D
phpBB [media]
Here is a photo of the mounted hands.
Image

And finally a short hands on video :D
phpBB [media]
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Post by sharpyuk » Wed Nov 09, 2011 5:35 pm

Post by sharpyuk
Wed Nov 09, 2011 5:35 pm

Awesome! Can we have some closer videos..

Cheers
Awesome! Can we have some closer videos..

Cheers
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Post by retro_boy » Sun Nov 20, 2011 2:21 pm

Post by retro_boy
Sun Nov 20, 2011 2:21 pm

Is this possible with a Bioloid Premium kit?
Is this possible with a Bioloid Premium kit?
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Post by sascha » Sun Nov 20, 2011 8:48 pm

Post by sascha
Sun Nov 20, 2011 8:48 pm

Hi retro_boy,

As you already noticed, the arms and legs are bioloid premium kit parts.

The do-it-yourself part is the torso, which is handmade of carbon fibre (lot's of work to make it small and fit all the parts :roll:) and the Kinect was modified a bit to fit the robot size better.

The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees) and an additional (premium kit) battery.
The mini-PC inside the torso connects to the servos with the USB2Dynamixel connector, which is also part of the premium kit as well. The accelerometer is an of-the-shelf Phidget (USB) sensor. The hands can be ordered by CustoBots.

I would say the most difficult part was to make the torso, which is not a bioloid part and can't be ordered anywhere else.
Hi retro_boy,

As you already noticed, the arms and legs are bioloid premium kit parts.

The do-it-yourself part is the torso, which is handmade of carbon fibre (lot's of work to make it small and fit all the parts :roll:) and the Kinect was modified a bit to fit the robot size better.

The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees) and an additional (premium kit) battery.
The mini-PC inside the torso connects to the servos with the USB2Dynamixel connector, which is also part of the premium kit as well. The accelerometer is an of-the-shelf Phidget (USB) sensor. The hands can be ordered by CustoBots.

I would say the most difficult part was to make the torso, which is not a bioloid part and can't be ordered anywhere else.
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Post by retro_boy » Sun Nov 20, 2011 9:05 pm

Post by retro_boy
Sun Nov 20, 2011 9:05 pm

very impressive! can it walk?
very impressive! can it walk?
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Post by garycmartin » Mon Nov 21, 2011 2:14 am

Post by garycmartin
Mon Nov 21, 2011 2:14 am

sascha wrote:The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees)


Interesting, I decided to put the two AX-18As one level up, in the thighs (given that the muscle group in humans is also larger up there). Obviously I'd love to put AX-18As in the knees and ankles as well, if a reasonable 6pcs bulk pack becomes available in Europe.

sascha wrote:and an additional (premium kit) battery.


Do you have any advice relating to how you are regulating the combined battery supply? I've been contemplating cheating a little and splitting the dynamixel bus into parallel, left and right sides, powering each separately, and making it possible to double the available comms bandwidth to the servos using a controller for each.

--Gary
sascha wrote:The robot contains 22 dynamixel servos - 20x Ax-12A and 2x Ax-18A (for the knees)


Interesting, I decided to put the two AX-18As one level up, in the thighs (given that the muscle group in humans is also larger up there). Obviously I'd love to put AX-18As in the knees and ankles as well, if a reasonable 6pcs bulk pack becomes available in Europe.

sascha wrote:and an additional (premium kit) battery.


Do you have any advice relating to how you are regulating the combined battery supply? I've been contemplating cheating a little and splitting the dynamixel bus into parallel, left and right sides, powering each separately, and making it possible to double the available comms bandwidth to the servos using a controller for each.

--Gary
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Post by wing » Thu Aug 29, 2013 8:25 pm

Post by wing
Thu Aug 29, 2013 8:25 pm

where can i buy the hands? custobots doesn't exist anymore.
where can i buy the hands? custobots doesn't exist anymore.
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