Foot with built in mechanical advantage

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

Foot with built in mechanical advantage

Post by nicolas gomez » Tue Jun 14, 2011 4:37 pm

Post by nicolas gomez
Tue Jun 14, 2011 4:37 pm

Hello! Here I found another type of foot for our robots

Supported Humanoids
- Robotis Bioloid
- Kondo KHR-2
- Hitec Robonova
- Kumotek KT-X

https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/104/


https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/103/

Image



Image

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Hello! Here I found another type of foot for our robots

Supported Humanoids
- Robotis Bioloid
- Kondo KHR-2
- Hitec Robonova
- Kumotek KT-X

https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/104/


https://www.roadnarrows.com/store/index.php/aitdownloadablefiles/download/aitfile/aitfile_id/103/

Image



Image

Image

Image

Image
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Post by MOHIT JINDAL » Wed Jun 15, 2011 3:51 am

Post by MOHIT JINDAL
Wed Jun 15, 2011 3:51 am

Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans. :wink:

Thanks.
Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans. :wink:

Thanks.
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Post by nicolas gomez » Wed Jun 15, 2011 5:28 pm

Post by nicolas gomez
Wed Jun 15, 2011 5:28 pm

MOHIT JINDAL wrote:Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans. :wink:

Thanks.


Hello

May be you need first make a simulation to choose more better the number of servos and placement, and reading more about the biped robot desing, the simulation help you to make more better you prototipe and dont lose money, materials and work

here you see another king of legs

http://forums.trossenrobotics.com/showthread.php?t=4164

and more there

http://robosavvy.com/forum/viewtopic.php?t=6249


Image

phpBB [media]


here a video example

phpBB [media]


1st) make a simulation of the model of you robot

2nd) in your case build the robot and test

would recommend that you first complete the lower legs, knees and hips and test it to wallk in the simulation

http://www.openrtp.jp/openhrp3/3.0.7/en/download.html

phpBB [media]


I hope this information helps you with your robot development
regards
MOHIT JINDAL wrote:Hi please see my photos also.

http://www.flickr.com/photos/mohitjindal2712

I am trying to get more torque from Ax12+ Dynamixels to stand my Bioloid on one feet. I want it Walk like We Humans. :wink:

Thanks.


Hello

May be you need first make a simulation to choose more better the number of servos and placement, and reading more about the biped robot desing, the simulation help you to make more better you prototipe and dont lose money, materials and work

here you see another king of legs

http://forums.trossenrobotics.com/showthread.php?t=4164

and more there

http://robosavvy.com/forum/viewtopic.php?t=6249


Image

phpBB [media]


here a video example

phpBB [media]


1st) make a simulation of the model of you robot

2nd) in your case build the robot and test

would recommend that you first complete the lower legs, knees and hips and test it to wallk in the simulation

http://www.openrtp.jp/openhrp3/3.0.7/en/download.html

phpBB [media]


I hope this information helps you with your robot development
regards
nicolas gomez offline
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Posts: 95
Joined: Sat Aug 08, 2009 2:40 pm

Post by MOHIT JINDAL » Thu Jun 16, 2011 3:13 am

Post by MOHIT JINDAL
Thu Jun 16, 2011 3:13 am

Hi, Thanks for the videos :D :)
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation :roll:
Hi, Thanks for the videos :D :)
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation :roll:
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Post by nicolas gomez » Sat Jun 18, 2011 2:07 pm

Post by nicolas gomez
Sat Jun 18, 2011 2:07 pm

MOHIT JINDAL wrote:Hi, Thanks for the videos :D :)
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation :roll:


Hi!

1st)

OpenHRP (Open Architecture Humanoid Robotics Platform) is an integrated simulation platform for mainly a robot and consists of main dynamics algorithm developed by Nakamura Lab, Department of Mechano-Informatics in the University of Tokyo, a graphical user interface developed by General Robotix,Inc and others by Advanced Industrial Science and Technology (AIST).

Whit it you can bulit you robot prototype and test diferents places and angles of you servos to decide how place its.

In the next post of this forum some members use the bioloid premium model in the OpenHRP to simulate and test gait pattern walk

"BioSim.zip is a package that contains the customized files that I used to simulate the Bioloid Premium using OpenHRP"

read here the all the post

http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Ther the files of the robot in OpenHRP

http://robosavvy.com/Builders/Fritzoid/

and here a video of demo

phpBB [media]




Here the example of model biped robot in openhrp3

http://www.openrtp.jp/openhrp3/3.0.7/en/sample_model.html

and videos of examples

phpBB [media]



phpBB [media]


2)
Here you can reading about the mechanical biped desing, find topics like torque, mas distribution and different biped configurations, note that the torque of the servos AX12 limit the length of the legs that you can use, look the equations in pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch2.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch3.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch5.pdf

http://www.duke.edu/~aa77/report1.pdf


http://robotics.ee.uwa.edu.au/theses/1998-Biped-Nicholls.pdf


There more robot modificated in the forum

http://robosavvy.com/forum/viewtopic.php?t=5821&postdays=0&postorder=asc&start=0


http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Remember that internal gears are of plastic so you can`t put too much weight that will break

regards
PD: I send you a private mesage whit other link wiht a book
MOHIT JINDAL wrote:Hi, Thanks for the videos :D :)
Can you tell me OpenHRP is a 3D drawing software or it can tell me what position I have to set for Ax12+ ?
If it tell me what angle I have to set for Ax12+ then its good to make simulation :roll:


Hi!

1st)

OpenHRP (Open Architecture Humanoid Robotics Platform) is an integrated simulation platform for mainly a robot and consists of main dynamics algorithm developed by Nakamura Lab, Department of Mechano-Informatics in the University of Tokyo, a graphical user interface developed by General Robotix,Inc and others by Advanced Industrial Science and Technology (AIST).

Whit it you can bulit you robot prototype and test diferents places and angles of you servos to decide how place its.

In the next post of this forum some members use the bioloid premium model in the OpenHRP to simulate and test gait pattern walk

"BioSim.zip is a package that contains the customized files that I used to simulate the Bioloid Premium using OpenHRP"

read here the all the post

http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Ther the files of the robot in OpenHRP

http://robosavvy.com/Builders/Fritzoid/

and here a video of demo

phpBB [media]




Here the example of model biped robot in openhrp3

http://www.openrtp.jp/openhrp3/3.0.7/en/sample_model.html

and videos of examples

phpBB [media]



phpBB [media]


2)
Here you can reading about the mechanical biped desing, find topics like torque, mas distribution and different biped configurations, note that the torque of the servos AX12 limit the length of the legs that you can use, look the equations in pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch2.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch3.pdf

http://www.fke.utm.my/academics/psm/ver1/reports/johari/ch5.pdf

http://www.duke.edu/~aa77/report1.pdf


http://robotics.ee.uwa.edu.au/theses/1998-Biped-Nicholls.pdf


There more robot modificated in the forum

http://robosavvy.com/forum/viewtopic.php?t=5821&postdays=0&postorder=asc&start=0


http://robosavvy.com/forum/viewtopic.php?t=7132&postdays=0&postorder=asc&start=30

Remember that internal gears are of plastic so you can`t put too much weight that will break

regards
PD: I send you a private mesage whit other link wiht a book
nicolas gomez offline
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Posts: 95
Joined: Sat Aug 08, 2009 2:40 pm


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