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evilMachina
08-03-2008, 09:32 AM
The machine (I’m really bad to come up with good names) is an AX-12 based Phoenix hexapod. http://evilmachina.com/the-machine.aspx
Project Goals:
First step is to get the hexapod to move using some type of external input devise, keyboard or game pad.
Second step is to add sensors to the robot.
Third step is to make it automated.
This project is more about the software then the hardware. If I’m doing it right it should be fairly easy to replace the AX-12 with regular servos and/or a different setup.

Materials/Parts List:
Software:
OS: Windows XP
Language: C# 3.0
Parts:
Lynxmotion (http://www.lynxmotion.com/Category.aspx?CategoryID=117) Phoenix kit
18 AX-12+ Servos from a Bioloid kit
"USB Bus Interface" from Huv Robotics (http://www.huvrobotics.com/shop/index.php?_a=viewProd&productId=5)
I'm probably going to use a VIA EPIA PX 10000 Pico-ITX as the brain, I currently using my desktop computer.

Source code: http://github.com/evilmachina/theMachine/tree/master

Videos:

http://www.youtube.com/watch?v=PyS0_f_DV94


http://www.youtube.com/watch?v=FWAKW3iJhgc


http://www.youtube.com/watch?v=8ziwZlHo59Q


http://www.youtube.com/watch?v=2JQbjB6yHio
/Marcus

4mem8
08-03-2008, 01:56 PM
Very nice hexapod Marcus, Keep up the good work.

darkback2
08-03-2008, 02:56 PM
Nice so far. I have the HDAT hex, and a part of me wishes I had a pheonix. They are just so darn cute. Lexi is a bit of an over weight beast.

How are you planning to mount the AX-12s? Do you have a way to make custom brackets?

I am seriously considering going the ITX route also. I have a small sony laptop, but I'm still having weight issues.

Good luck on the build...keep us all posted.

DB

sam
08-03-2008, 04:04 PM
Wow! It looks nice! I guess you have enough power too have lots of payload.

I'm also interested, did you use custom brackets?

For the moment what are you controling it with?

Zenta
08-03-2008, 04:13 PM
Hi,

Ah, finaly you posted this project!;)
Some of you asked about brackets.. Take a look at his pictures (http://evilmachina.com/gallery.aspx) and I think you'll get the answer.

Very nice work and I'm looking forward to see your progress.

-Zenta

sam
08-03-2008, 04:28 PM
Haaa. Ok I get it. It's true that the metal bars are only onn one side so it's less hard to modify it a tad. I thought it was (I don't know why:tongue: ) SES.

A-Bot
08-03-2008, 08:09 PM
Very nice. I thought about doing the same thing with the Phoenix, but by the time the kit was actually released my interests had moved to other things.

DresnerRobotics
08-03-2008, 08:26 PM
Outstanding project, this really makes me want to pick up a phoenix kit and do the same once I replace the AX-12s in my mech with RX-28s.

This is all using I.K. correct?

evilMachina
08-04-2008, 07:02 AM
Thats correct that it is using I.K to move.

First steps

http://www.youtube.com/watch?v=yHzD-Y2KXdI

MYKL
08-04-2008, 05:23 PM
The way it ticks/warps is really engaging. I've seen some lizards and insects move like that whilst trying to stay inconspicuously camoflauged. You've got the power to make those bursts longer/further and thus move faster. Is that your plan?

Very cool.

^_^

evilMachina
08-09-2008, 04:08 PM
The way it ticks/warps is really engaging. I've seen some lizards and insects move like that whilst trying to stay inconspicuously camoflauged. You've got the power to make those bursts longer/further and thus move faster. Is that your plan?

Very cool.

^_^

The ticks/ wraps wasn’t planed and was caused by that all the servos is moving at the same speed and the legs do not start to lift from the ground before the coxa reach its end position. I have now added that the speed is calculated dependent on distance it have moved and the time it have on it to move to its goal position and as you can see in the video below resulting in much smoother motion when waking.


http://www.youtube.com/watch?v=nFkdWbijqt0

evilMachina
08-31-2008, 02:19 PM
The hexapod can now turn around its own y axis or circulate a point. A big thanks Zenta and his Phoenix Excel Program (http://www.lynxmotion.com/images/html/proj098.htm) that I have used to check my calculations and done reverse engineering on. I have some minor problem when chancing direction and need to come up with a strategy for that but fist I am going to implement to read sensor data from the AX-S1.

evilMachina
08-31-2008, 02:49 PM
Added new video to first page.

gdubb2
08-31-2008, 07:36 PM
Very nicely done.. Smooooth movements are cool.

Gary

4mem8
09-01-2008, 01:05 AM
evilMacina: Very cool, Love the motions,Tempted to build one, but have to many projects at present.

sam
09-01-2008, 07:19 PM
Very nice job

Continue like this. can't wait to see what you will manage to do with this.

evilMachina
06-04-2009, 12:50 AM
I have released the code for my hexapod under the MIT License and it can be downloaded from gitHub http://github.com/evilmachina/theMachine/tree/master


/Marcus