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JonHylands
09-12-2007, 08:08 AM
So, one of the things I've been working on for a while now is a tracked base for the Bioloid humanoid research robot I built, BrainBot (http://www.bioloid.info/tiki/tiki-index.php?page=BrainEngineering+BrainBot). This replaces the legs, and forms a stable platform on which you can do vision and/or manipulation research, both of which are things the Brain Engineering Lab (the group that is paying the bills) is interested in.

I have a couple videos on my blog (http://www.huv.com/blog/2007/09/tracked-base.html), and here's a picture of the base:

http://www.bioloid.info/BrainBot-TrackedBase-04-small.jpg

The base is a LynxMotion Tri-Track (http://www.lynxmotion.com/Category.aspx?CategoryID=109) kit. The track motors are driven through a Dimension Engineering Sabertooth 2x10 (http://www.dimensionengineering.com/Sabertooth2X10.htm) motor driver board. Control is provided over the Bioloid bus using my general I/O module (http://www.huv.com/blog/2007/07/catching-up.html), which allows you to set the speed of each motor through the standard control table interface, like any other bus device.

On top, the pan and tilt mechanism for the body is controlled with a couple AX-12 servos, which are (of course) on the same bus. You basically remove four screws that hold the leg support base to the chest compartment, and unplug the leg bus connection wires, and you can replace the legs with this base. The whole operation would take about ten minutes.

Unfortunately, the only BrainBot prototype in existence right now is at the Brain Engineering Lab in New Hampshire, so I don't have any pictures of it attached to this new base, but I have a CAD model rendering of it on an earlier posting to my blog (http://www.huv.com/blog/2007/08/another-chapter-for-brainbot.html).

- Jon

Alex
09-12-2007, 10:02 AM
Pretty cool stuff Jon! I'd love to see a video of this beast in action:D

Do you want to submit this to this month's contest? If so, let me know and I'll copy this thread (leaving a copy here) over to the Project Showcase forum.

JonHylands
09-12-2007, 10:27 AM
Well, if you look at my blog, there are a couple very short videos - one showing the pan & tilt functionality of the waist, and one showing the tracked base moving around.

As far as the contest is concerned, there really isn't much to this thing - its mostly parts that we bought and put together. The only really innovative thing about it is the Bioloid I/O board I designed, which lets you control the tracked base motors from the bioloid bus.

- Jon

Matt
09-12-2007, 10:35 AM
That's a nice concept. Like the mini Johnny 5 I tried to build when I was a kid using an old tank base. (It never got finished!)

Here are some other tracks to check out also:
These are some nice medium duty tracks for a decent price.
http://www.homebot-robotics.com/Purchase.html

I thought I'd post your vids: (Nice job on the pan & tilt)

http://www.youtube.com/watch?v=cJMCjxxvHrw


http://www.youtube.com/watch?v=HjIUyitu9JY