View Full Version : [Bioloid] 19 dof bioloid

06-07-2008, 10:46 PM
ok folks I have just finished assembling the 19th servo into the waist of my bioloid and would love to hear from others that have.
I am in the process of going through the motion files and changing them to accommodate the extra servo. the oem motion files seem to have not taken into consideration of this servo. it is set to continuous rotation.

so what new motions have you been able to achieve with the extra servo? seems like you could make a faster more stable walk.:robotsurprised:

06-08-2008, 10:57 PM
ok banging my head a lil bit here,you cant go into motion editor and change the servo setting? then how do you do this?

06-09-2008, 09:44 AM
Trey, I had the same problem when I installed my 19th servo. If you check each of the motion file pages in Robot Terminal, you'll find that a "blank" entry into any of the servo slots will cause the servo to rotate continuously (and almost snapping my servo cables since it's at the waist :mad:)

You should use Robot Terminal, and pay attention to the "next page" and "exit" pages of each motion page. Insert "512" for the value of the 19th servo as a starter, just to keep it still...

You actually will have to painstakingly go through each page and do this. I tried to do this under motion editor, but found it very very tedious. Refer to the behavior control program for what initial page it jumps to, then use the terminal to go to that page and follow the "next" and "exit" that's on every page.

To help yourself not get lost in the linking of the motion pages, I charted out by hand the current page, link to the next page from it, and the link to the exit page from it... I'll post it when I get home today...

06-09-2008, 03:15 PM
Hey guys I tried installing a 19th servo in my Bioloid , but I'm not sure if it was put in the right place. He seemed very unstable and top heavy. I installed it between the 2 leg twist servo's in the same direction is that correct?

06-09-2008, 08:45 PM
well mine is in the cavity between the leg twist servos(hips) but the servo horn is up and facing the opposite direction

thanks tom just a lil frustrating,was thinking for a minute that I might have to create my own motions,I will eventually anyway,but it would be nice to use the default for now ya know?

06-09-2008, 10:05 PM
Hey guys I tried installing a 19th servo in my Bioloid , but I'm not sure if it was put in the right place. He seemed very unstable and top heavy. I installed it between the 2 leg twist servo's in the same direction is that correct?

TechMech, yes, that would be the correct location. Although "correct" might be a wrong word to use on a set like the Bioloid, where you have the freedom to reconfigure anything as you please... Check out Alpha's usage on the 19th servo (I think his is 20 DOF)

But I believe that location between the two hip servos is the logical choice. Looking at that location, it was meant to have a servo there, but seems like Robotis might've cut it out due to competition of pricing versus profit (gotta have enough profit to fund future R&D :p)

Anywho, regarding the top-heavy concern, I noticed that too. My Bioloid used to walk fine when I had it disconnected, it was still mechanically installed but just not powered. After I got rid of the continuous-rotation snafu, I noticed that it does not walk properly anymore. I think it has to do with the rigidity with a heavier waist (I fix the servo at 512 as I have not yet taken advantage of the usage).

I believe one can compensate this from my experience of that servo being there but not powered. I believe that the servo must rotate the upper body in the correct manner (timing) with the poses to augment the COG shifting.

I'm currently busy with my hexapod and haven't really played around with the Bioloid. I'll come around to it again eventually and that was actually one of the top things on my to-do list for my Bioloid... ;)

06-14-2008, 07:45 PM
ok not making much progress due to several things,12 hr work days,wifes in hospital etc...but I am stuck on the robot terminal and editing the motions there cant quite get there,anyone know of a step by step? I will definitely be posting this as a tut when we get there and even the motion program itself, I think robotis should have but ah well solder on!-

06-15-2008, 10:01 PM
ok so no forward motion on robot terminal so I switched back to the motion editor. and so far here is what I have found,to edit a motion first select page number,then select the pose from from the bottom row then edit the servo then save page and repeat for next pose.
heres the rub so far now my bioloid moves in slow motion,seems I think tom chang had this prob also I will search through his threads and see if I can find it.

06-16-2008, 12:36 AM
trey, sorry for not uploading this sooner, but here's the bioloid 19dof motion edit:


the edit basically fixes the 19th servo to "512" But the WALKING section is the only one that has been edited. The "karate" and the "dance" and any other section has not been edited yet, so this motion file will make the bioloid behave like the default for those sections (the 19th servo continuous rotating :sad:)

So just use mode->play->"D" ONLY. I will eventually get around to editing the other sections so that the 19th servo doesn't do continuous rotate...

Now for the robot terminal part. You should pay particular attention to section 5-2-2 of the User's Guide (page 107).

This section teaches you how to edit the various motion pages. Make sure you look at the right-hand side for "link to next" and "link to exit" pages. Each of the motion pages will link to the next page and also has an exit link and eventually, the motion wraps around...

You must keep following the pages and keep editing the ID 19 (assuming you put the 19th servo as ID 19).

Oh yeah, one more thing, I think the separate 19th AX-12+ you bought comes up with a blank ID or some random ID. Don't forget to unhook all your other AX-12+ and hook up ONLY the 19th AX-12+ and flash the ID as "19" or any other ID you desire... Make sure no other AX-12+ are on the bus or all the AX-12+ on the bus will get the same ID...

My motion fixes the torso servo at "512" but you will find out that it has some problems walking now, which takes me to the previous post about the added weight + stiffness (the servo fixed to 512) is the most probably cause of unstable walking...

Get to know the robot terminal, I've ditched the motion editor long time ago, as I found that clicking and the interface was slowing me down on editing 20+ pages... The motion editor is just a graphical wrapper for the robot terminal, so you can do everything in motion editor in the robot terminal...

06-16-2008, 07:46 PM
thanks for uploading that file its a starting place for the extra servo at least. as for robot terminal I think I understand how it works but I cant get it to edit the setting for the 19th servo,goodcall on the id,I knew as much adding it with all my other trouble with the cm-5 but others may not,I will post a procedure later and where I get stuck at so you know more about my prob with terminal.

06-24-2008, 07:04 PM
ok I now have all the motions edited ,through robot terminal,on the bioloid,now how do I go about getting the motions from him to my pc where I can share them? they are still at 512 but that at least lets you play through all the motions then tweak the waist where you want it.

06-24-2008, 11:30 PM
Go to your BCP (Behavior Control Program)

From there:

Management --> Robot Motion --> Read from Robot

Then just save it to a file on your computer (you might want to rename it to differentiate it from the default)

Don't forget to zip it, since the upload on Trossen only likes certain file formats (it doesn't accept .mtn files)...


06-27-2008, 12:12 AM
ok now on to the trim he seems to stand forward leaning of where he is supposed to,now from my robophilo exp this is where it gets tricky,if you adjust the wrong set of servos his walk and everything else will be off,I am going to start with the hip servos anyone got any suggestions?

06-27-2008, 02:44 AM
I say just try to align everything according to the reference axis in the quick start manual. I really like your blue theme to your brackets. Makes it stand out. Is that a model of the Mad Cat next to it? Would be neat if that thing walked and shot BBs out of its arms...

06-27-2008, 11:27 AM
yup thats a mad cat,they came out about 3 yrs ago had to have it,I am considering getting involved in the mechwars thing,and comparing the model of the mad cat it looks doable,a biocat!the arms look perfect for the air soft,and when you scale up the missile pods the micro missiles they talked about are also just about dead on.

the blue paint is actually a failed paint job,but it has grown on me. My son used(with my permission) tamiya spray can paint on it,looked really cool after he was done but it failed to adhere to the brackets real well,hence the used look,witch I like.

06-29-2008, 05:52 PM
Yeah, after I read Tyberius' mechwars page, I was very intrigued... With the links to airsof bb shooters on his page, I'm sure it's a matter of time when more and more people start outfitting their bot with some toy weaponry...

Hell, the i-sobot was outfitted with a launcher on his arm, why wouldn't his bigger brothers (kondo, bioloid, etc...) be outfitted as well?

I'm keeping my attention on mechwars and see what develops... My Biloid can barely walk, a shot by even a sponge ball would probably knock it down...


06-29-2008, 10:26 PM
ya know speaking of barely walking,where mine is at right now,it looks like a little deviation from how the manual says the 19th servo should be,if you move the mounting holes back to the rear spaces on top of the hip servos it might balance better.
after looking through the manual and putting the bioloid in the position of check assembly it looks like everything is fine,but get him into a walk stance and he leans forward. so the choice we are left with are modify each page of the walking motions or experimenting with different construction positions. think I will try to modify the assembly first.

06-30-2008, 02:05 AM
you could look at videos of the rbt-1 its on this website under im here for robots at the top of this page. its a huminoid and i believe it comes standard with a twisting waist. you could watch the vidoes on it and see if you can copy its walking and how it incorperates the extra degree of function in the waist.

06-30-2008, 09:33 AM
You can alter the trim on page 0 slightly which would effect all the motion pages... I think statically (while standing still) isn't the concern as much as the walking part.

What I was thinking of doing is go through each motion page and see if I can alter the values *slightly* towards one way or another to make it walk as if the 19th waist wasn't there...