AX-12 & AX-18F Dynamixel based Interbotix Hexapods

Walking robots with more than 2 legs (tripods, quadpods..) have the inherent advantage of stability over biped robots
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3 postsPage 1 of 1

AX-12 & AX-18F Dynamixel based Interbotix Hexapods

Post by Tyberius » Fri Oct 01, 2010 6:30 pm

Post by Tyberius
Fri Oct 01, 2010 6:30 pm

Hey guys,

Wanted to share some of the prototype work I've been doing for a new product that is upcoming. These are AX-12+ and AX-18F based hexapod kits powered by the ArbotiX Robotcontrollers & NUKE Inverse Kinematics Engine from our partners at Vanadium Labs. All the software is open source on these as well.

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Hey guys,

Wanted to share some of the prototype work I've been doing for a new product that is upcoming. These are AX-12+ and AX-18F based hexapod kits powered by the ArbotiX Robotcontrollers & NUKE Inverse Kinematics Engine from our partners at Vanadium Labs. All the software is open source on these as well.

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Image

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Post by limor » Sun Oct 03, 2010 2:15 pm

Post by limor
Sun Oct 03, 2010 2:15 pm

Looks fantastic! and definitely one of the fastest out there (faster than those new Japanese competition quad-pod monstrosities).

Correct me if i'm wrong but seems like this ingenious structure was put together with standard Bioloid components + 3 custom designed flat (CNC'd) parts as in the picture below:
1) leg
3) foot
4) body back / belly

2) metal struts / pillars to support the leg and body dual-sides.

?
Image

The impact on the foot may be quite high and have all kinds of side effects. Why not make the foot of a soft rubber material?
Maybe find a way to put a spring and potentiometer in the foot that will tell the CPU how much force is being applied to the foot.
Looks fantastic! and definitely one of the fastest out there (faster than those new Japanese competition quad-pod monstrosities).

Correct me if i'm wrong but seems like this ingenious structure was put together with standard Bioloid components + 3 custom designed flat (CNC'd) parts as in the picture below:
1) leg
3) foot
4) body back / belly

2) metal struts / pillars to support the leg and body dual-sides.

?
Image

The impact on the foot may be quite high and have all kinds of side effects. Why not make the foot of a soft rubber material?
Maybe find a way to put a spring and potentiometer in the foot that will tell the CPU how much force is being applied to the foot.
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Post by Tyberius » Sun Oct 03, 2010 4:16 pm

Post by Tyberius
Sun Oct 03, 2010 4:16 pm

What you see here is a prototype but you're for the most part correct. I ended up adding front/back plates with a bioloid bracket hole pattern on the body so that users can mount grippers, tails, etc. The feet have rubber pads on the bottom that are replaceable and help absorb some of the shock, but the inherent gear backslash helps as well. Also have a foot pressure add-on kit in the works that utilizes FSR sensors.
What you see here is a prototype but you're for the most part correct. I ended up adding front/back plates with a bioloid bracket hole pattern on the body so that users can mount grippers, tails, etc. The feet have rubber pads on the bottom that are replaceable and help absorb some of the shock, but the inherent gear backslash helps as well. Also have a foot pressure add-on kit in the works that utilizes FSR sensors.
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