New hexapod; robotis servos, Atom Z530 processor

Walking robots with more than 2 legs (tripods, quadpods..) have the inherent advantage of stability over biped robots
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New hexapod; robotis servos, Atom Z530 processor

Post by limor » Wed Dec 16, 2009 3:13 pm

Post by limor
Wed Dec 16, 2009 3:13 pm

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Hexapod robot designed at the Robotics and Neural Systems Laboratory (RNSL) at the University of Arizona.

The hexapod is using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 with Intel Atom Z530 Processor computer running Ubuntu 9.04, with a custom PIC18F4550 based USB board to pipe motor control protocol.

This is a demonstration of the new leg design which is much more solid than the previous design. Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison.

The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.

Inverse kinematics is used with a dynamic walking gait. The dynamics still need work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.

Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF.
phpBB [media]



Hexapod robot designed at the Robotics and Neural Systems Laboratory (RNSL) at the University of Arizona.

The hexapod is using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 with Intel Atom Z530 Processor computer running Ubuntu 9.04, with a custom PIC18F4550 based USB board to pipe motor control protocol.

This is a demonstration of the new leg design which is much more solid than the previous design. Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison.

The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.

Inverse kinematics is used with a dynamic walking gait. The dynamics still need work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.

Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF.
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Post by rcdreamfly » Sun Jul 08, 2012 1:04 pm

Post by rcdreamfly
Sun Jul 08, 2012 1:04 pm

This is a demonstration of the new leg design which is much more solid than the previous design Rc Helicopters Reviews . Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison. Rc Hobby
This is a demonstration of the new leg design which is much more solid than the previous design Rc Helicopters Reviews . Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison. Rc Hobby
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