Rebuilding RN-1

Discussions regarding building a walking robot at home. Most of the robots participating at Robo-One competitions are custom fabricated.
27 postsPage 1 of 21, 2
27 postsPage 1 of 21, 2

Rebuilding RN-1

Post by Viking » Wed Aug 23, 2006 6:32 am

Post by Viking
Wed Aug 23, 2006 6:32 am

Ever since I saw the video of the OmniZero robot I simply wanted one! So I had a last look at my IGOR (RN-1) and started to split him apart like a bad chain saw movie! - He now looks verry disabled - and certainly he is because all he's servoes now will be use for my new robot - hopefully a replica of the OmniZero.

Some years ago I build a CNC machine which now will come in use for my project.

Image

So far here is what I've made out of glass fiber and carbon sheets

Image

As you can see there will be two servoes in each knee to make the leg move faster e.g. if only one servo it must move 180 deg. from sit to stand if two servoes each only need to move 90 deg. which will result in a double reaction time. In this case you will see that both Thigh, Angel and knee servoes all move the same amount from sit to stand - this is not the case if you observe the RN-1

Image
Image
Image

There will be 6 of these blocks Hip, Foot and shoulders the Bracket is glued together after the CNC cutiing - I kind a like this little piece 8)

Image

Here is how far I am now - the first leg

Image

The legs will be more rigid than the RN-1 and also I will replace the free-wheel servo horns to some home made with lesser tolerance - the free play in the originals is simply TOO much and makes it woobly.

Unfortunately I'm very soon due for a 3 month work schedule so I wont complete my bot this side of Xmas but nearly certain that he will walk his first step in January 2007.

Hope you like my project and ofcause I'm willing to share my drawings to those who want them.
Ever since I saw the video of the OmniZero robot I simply wanted one! So I had a last look at my IGOR (RN-1) and started to split him apart like a bad chain saw movie! - He now looks verry disabled - and certainly he is because all he's servoes now will be use for my new robot - hopefully a replica of the OmniZero.

Some years ago I build a CNC machine which now will come in use for my project.

Image

So far here is what I've made out of glass fiber and carbon sheets

Image

As you can see there will be two servoes in each knee to make the leg move faster e.g. if only one servo it must move 180 deg. from sit to stand if two servoes each only need to move 90 deg. which will result in a double reaction time. In this case you will see that both Thigh, Angel and knee servoes all move the same amount from sit to stand - this is not the case if you observe the RN-1

Image
Image
Image

There will be 6 of these blocks Hip, Foot and shoulders the Bracket is glued together after the CNC cutiing - I kind a like this little piece 8)

Image

Here is how far I am now - the first leg

Image

The legs will be more rigid than the RN-1 and also I will replace the free-wheel servo horns to some home made with lesser tolerance - the free play in the originals is simply TOO much and makes it woobly.

Unfortunately I'm very soon due for a 3 month work schedule so I wont complete my bot this side of Xmas but nearly certain that he will walk his first step in January 2007.

Hope you like my project and ofcause I'm willing to share my drawings to those who want them.
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Post by Pev » Wed Aug 23, 2006 7:29 am

Post by Pev
Wed Aug 23, 2006 7:29 am

Viking,

Amazing project. Love the use of Carbon Fibre sheet, may I be nosey and ask what thickness you are using. The leg looks very professional and I like the ankle arrangement on the servos, nice little bracket.

Hope it all goes well.

Pev
Viking,

Amazing project. Love the use of Carbon Fibre sheet, may I be nosey and ask what thickness you are using. The leg looks very professional and I like the ankle arrangement on the servos, nice little bracket.

Hope it all goes well.

Pev
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Post by Viking » Wed Aug 23, 2006 10:40 am

Post by Viking
Wed Aug 23, 2006 10:40 am

Hi Pev

Pev wrote:
may I be nosey and ask what thickness you are using.


Pev


You can be as nosey as you want - I don't mind - The Carbon is 1,5 mm and the bracket is made of 1 mm which is glued to a 3 mm center piece
I might change all glass with carbon when the proto type is done but that can wait

Viking
Hi Pev

Pev wrote:
may I be nosey and ask what thickness you are using.


Pev


You can be as nosey as you want - I don't mind - The Carbon is 1,5 mm and the bracket is made of 1 mm which is glued to a 3 mm center piece
I might change all glass with carbon when the proto type is done but that can wait

Viking
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Post by Ray » Wed Aug 23, 2006 11:07 am

Post by Ray
Wed Aug 23, 2006 11:07 am

Hi Viking,

I am admire of you!
You can have your space to sit a CNC machine and you can do it well! :D

I hope I can have a CNC too :(

I can see the module composed with 2 servos that greatly reduce the size. I learn this from Japan Onizero2, it is a wise design.

Can you share the sketch of you bot, I just can't wait until X'mas :wink:

Like to seeing your progress :D
Hi Viking,

I am admire of you!
You can have your space to sit a CNC machine and you can do it well! :D

I hope I can have a CNC too :(

I can see the module composed with 2 servos that greatly reduce the size. I learn this from Japan Onizero2, it is a wise design.

Can you share the sketch of you bot, I just can't wait until X'mas :wink:

Like to seeing your progress :D
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Post by Viking » Wed Aug 23, 2006 2:38 pm

Post by Viking
Wed Aug 23, 2006 2:38 pm

Ray wrote:Can you share the sketch of you bot, I just can't wait until X'mas :wink:


After completion I will know which modification are needed and then I will post my DXF files - I do not have a complete sketch available I sort of produce my bot step by step - but one thing is for sure it gonna look very close to the OmniZero (work wise)

-Have Bot-fun

-
Ray wrote:Can you share the sketch of you bot, I just can't wait until X'mas :wink:


After completion I will know which modification are needed and then I will post my DXF files - I do not have a complete sketch available I sort of produce my bot step by step - but one thing is for sure it gonna look very close to the OmniZero (work wise)

-Have Bot-fun

-
Last edited by Viking on Mon Aug 28, 2006 6:05 pm, edited 1 time in total.
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Post by RedFoxDude » Thu Aug 24, 2006 12:21 am

Post by RedFoxDude
Thu Aug 24, 2006 12:21 am

Wow! I can't wait to see the end product of this project! It will be very cool :D
The leg sure looks a lot like Omnizero's. Good luck!
Wow! I can't wait to see the end product of this project! It will be very cool :D
The leg sure looks a lot like Omnizero's. Good luck!
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extreme makeover

Post by Viking » Sun Aug 27, 2006 7:43 pm

Post by Viking
Sun Aug 27, 2006 7:43 pm

Here is the latest update on Igor's "Extreme Makeover"

In order to change all servoes to plain standard size I had to purchase several bags with horns and housing - I think Hitec Germany are low on stock for these items :wink:

Anyway here is some shots and movies of Igor with two new legs and hips:

Image
Image

http://robosavvy.com/Builders/Viking/MoveSide.MOV
http://robosavvy.com/Builders/Viking/MoveFront.MOV
Here is the latest update on Igor's "Extreme Makeover"

In order to change all servoes to plain standard size I had to purchase several bags with horns and housing - I think Hitec Germany are low on stock for these items :wink:

Anyway here is some shots and movies of Igor with two new legs and hips:

Image
Image

http://robosavvy.com/Builders/Viking/MoveSide.MOV
http://robosavvy.com/Builders/Viking/MoveFront.MOV
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Post by bauermech » Mon Aug 28, 2006 1:26 am

Post by bauermech
Mon Aug 28, 2006 1:26 am

VERY NICE WORK! ...I love it! :D
VERY NICE WORK! ...I love it! :D
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Post by hivemind » Mon Aug 28, 2006 1:47 am

Post by hivemind
Mon Aug 28, 2006 1:47 am

Viking,

Have you found that the ankle servo works as well being moved up from the foot so much? Granted you now have a front/back motion that is very close, but I am curious as to how it works compared to a stock RN-1?

Your carbon fiber designs look great though, nice work :)
Viking,

Have you found that the ankle servo works as well being moved up from the foot so much? Granted you now have a front/back motion that is very close, but I am curious as to how it works compared to a stock RN-1?

Your carbon fiber designs look great though, nice work :)
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Post by Viking » Mon Aug 28, 2006 7:27 am

Post by Viking
Mon Aug 28, 2006 7:27 am

Thanks your replyes.

The ankel and hips are limited in movement when the thigh or lower leg are moved fwd/back in fact thats how our bodies works as well, but when he is standing he can move the ankels one side 90 deg and to the other about 30 deg - the 30 deg is enough to let him ballance on one leg.
Also one of my problems was to deside how much space between the legs were needed and also the space from top servoblock to the body. I choose to have enough space to enable him to spread the legs 180 deg either way (turning the hip or not) - I think that OmniZero and RB1000 can't do that? (same concept)
Fact is, that he can be put in tons of awesome positions with these legs and I'm looking forward to make some very cool moves! Hivemind-there is no comparison with RN-1 leg-freedom wise 8)



-
Thanks your replyes.

The ankel and hips are limited in movement when the thigh or lower leg are moved fwd/back in fact thats how our bodies works as well, but when he is standing he can move the ankels one side 90 deg and to the other about 30 deg - the 30 deg is enough to let him ballance on one leg.
Also one of my problems was to deside how much space between the legs were needed and also the space from top servoblock to the body. I choose to have enough space to enable him to spread the legs 180 deg either way (turning the hip or not) - I think that OmniZero and RB1000 can't do that? (same concept)
Fact is, that he can be put in tons of awesome positions with these legs and I'm looking forward to make some very cool moves! Hivemind-there is no comparison with RN-1 leg-freedom wise 8)



-
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Post by Ray » Mon Aug 28, 2006 10:16 am

Post by Ray
Mon Aug 28, 2006 10:16 am

The process seem on its way good!

but the size of the toe seem a little small 8O

Ok for balancing?
The process seem on its way good!

but the size of the toe seem a little small 8O

Ok for balancing?
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Post by Viking » Mon Aug 28, 2006 10:28 am

Post by Viking
Mon Aug 28, 2006 10:28 am

Yep I have my doubt too - It doesn't seem proportional?
I will deal with that later once the body is done.

-
Yep I have my doubt too - It doesn't seem proportional?
I will deal with that later once the body is done.

-
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Help needed

Post by Viking » Mon Aug 28, 2006 5:35 pm

Post by Viking
Mon Aug 28, 2006 5:35 pm

Hi Guys

I need some help or suggestions here.

I'm a bit stuck here whether I should make the torso twistable or not. Problem is that making the body in two halfs will limit the space for batteries and controller.
If I keep the body in one piece I can make the bot smaller and fit all cables neatly while making two body halfs will make it much more difficult and congest the wireing etc.

What would you do? Is it worth all efford to have that 'twist' or not?
appriciate all comments.

p.s. without the twist I can add more electronics
-
Hi Guys

I need some help or suggestions here.

I'm a bit stuck here whether I should make the torso twistable or not. Problem is that making the body in two halfs will limit the space for batteries and controller.
If I keep the body in one piece I can make the bot smaller and fit all cables neatly while making two body halfs will make it much more difficult and congest the wireing etc.

What would you do? Is it worth all efford to have that 'twist' or not?
appriciate all comments.

p.s. without the twist I can add more electronics
-
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Post by hivemind » Mon Aug 28, 2006 5:44 pm

Post by hivemind
Mon Aug 28, 2006 5:44 pm

Well you will be using independant leg rotation, and from my brief expirementation with it it works pretty well. Matt has both now, and has a stronger servo for the twisting (i believe), but i dont know how much further motion it gives him because he can already twist like that.

But on the other hand it make for a good speed and you dont need to rotate the legs if you want to twist. I think personally I would not do it, but you go with a bending torso, similar to the Cycloid robotis robot. That seems to have some very nice qualities. Although once again you will need to have the two body halves.

Looks good thusfar, so I'm sure youll come up with something that meets that standard :)
Well you will be using independant leg rotation, and from my brief expirementation with it it works pretty well. Matt has both now, and has a stronger servo for the twisting (i believe), but i dont know how much further motion it gives him because he can already twist like that.

But on the other hand it make for a good speed and you dont need to rotate the legs if you want to twist. I think personally I would not do it, but you go with a bending torso, similar to the Cycloid robotis robot. That seems to have some very nice qualities. Although once again you will need to have the two body halves.

Looks good thusfar, so I'm sure youll come up with something that meets that standard :)
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Post by bauermech » Mon Aug 28, 2006 11:47 pm

Post by bauermech
Mon Aug 28, 2006 11:47 pm

Here's a quick video of how the pivoting torso worked on the 1st rook's pawn... He was't quite complete here, but you'll get the idea.
http://www.youtube.com/watch?v=PlKYec6sz_A
I wish I had a better video to show ya... Hopefully I'll get the footage back from RoboGames soon.
You are right. It's a battle between wanting more room or the added movement.

I almost ditched the torso pivot deal, but my wife talked me back into it. Overall, I like the benefit of having it... it's just a hassle routing through tight pockets.

I think personally I would not do it, but you go with a bending torso, similar to the Cycloid robotis robot. That seems to have some very nice qualities. Although once again you will need to have the two body halves.


Dynamizer (who is one of my personal favorites) has the bending waist as well. Very effective in helping him get up. Believe it or not, he also has the pivoting torso too!
http://www.robots-dreams.com/2006/05/dynamizer_runs_.html#more
Here's a quick video of how the pivoting torso worked on the 1st rook's pawn... He was't quite complete here, but you'll get the idea.
http://www.youtube.com/watch?v=PlKYec6sz_A
I wish I had a better video to show ya... Hopefully I'll get the footage back from RoboGames soon.
You are right. It's a battle between wanting more room or the added movement.

I almost ditched the torso pivot deal, but my wife talked me back into it. Overall, I like the benefit of having it... it's just a hassle routing through tight pockets.

I think personally I would not do it, but you go with a bending torso, similar to the Cycloid robotis robot. That seems to have some very nice qualities. Although once again you will need to have the two body halves.


Dynamizer (who is one of my personal favorites) has the bending waist as well. Very effective in helping him get up. Believe it or not, he also has the pivoting torso too!
http://www.robots-dreams.com/2006/05/dynamizer_runs_.html#more
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