View Full Version : Project Khepri - MX 106 hexapod.

06-24-2019, 03:46 PM
Khepri is a self built AI platform for DNN exploration. It has an onboard Nvidia 1070GTX for processing. In a standing position it is one meter in diameter and weighs in at 13kg. The leg actuators are Dynamixel MX106s and MX64s in the coxa positions. All “shells” were modeled in Maya and printed by Shapeways on their SLS printers. Power is provided by a custom lithium ion battery. Voltage is regulated to computer, actuators and LEDs by voltage converters by MiniBox. Onboard CPU is an Intel i5, 16Gig of ram and 120Gig SSD. Running ROS and my own hexapod stack.


06-24-2019, 06:19 PM
Pretty Cool! Looks like you are having some fun!

06-24-2019, 06:31 PM
Very nice!

I was thinking "can those nylon brackets really carry 5 kg each?" all the way until I saw they were just covers on top of the metal brackets :-)

What do you use to interface with the Dynamixels from the mini-PC?

06-24-2019, 07:23 PM
A U2D2 jwatte at 3Mbps. All the dynamixels are protocol 2.0 as well, so far I'm loving the extra features protocol 2 gives. Also the "mini-PC" is a Zotac VR box. It has a 1070GTX on board. Runs a bit warm but ventilation is working well.

06-24-2019, 11:15 PM
That's funny; my first walker was an all-MX-64 quad with a Zotac mini-box, too. But it was one of those earlier AMD APU ones, not worth the extra weight in the end.

Have you trained any cool models for the GPU yet?

06-25-2019, 09:39 AM
That's impressive! Nice work. Diving right into the fun stuff next, or doing more refinement first?

06-25-2019, 05:39 PM
A little of both Gertlex. I'm trying to tackle the PID side of things at the moment. As well as getting TensorFlow integrated with my ROS stack.

05-15-2020, 05:47 PM
This is a very nice robot. At 1:22, I see a Trossen powered hub on each side with a thick red and black wires. Where are they connecting to? Are they connected to each other and then to a battery for all the motors or one battery for each Trossen hub? What is the big circuit at the very front (mounted horizontally) where a lot of red wires are on the top?