PDA

View Full Version : [News/Announcement] micromagic micro sized hexpod MSR-ÁBug



mdenton
12-03-2008, 07:35 AM
For my next hexapod product, I'm thinking of using micro sized servos, and want to gauge who if anyone would be interested in a micro servo sized hexapod some thing like this:

http://www.hexapodrobot.com/images/MSR_uBug/MSR-uBug_ISO_SLEEP_s.jpg

For this prototype I'm using my p.Brain-HexEngine and p.Brain-SMB inverse mounted to the top plate (Same size as SSC32). The plan is to shrink the electronics and house them inside the body, leaving the battery on the top deck and mounting points for additional control boards. Some people may ask why bother with such a small hexapod, but there are several reasons:

:) A cheaper entry to hexapod robotics.
;) It will fit on your desk top.. or in your hand bag.
:) Its cute!
:robotsurprised: Why the hell not!
:D Swarm robotics... anyone?

Any who, its difficult to figure out how much I could produce one for, but my thinking is between ú300 to ú350 including servos and electronics. So let me know your thoughts, and use the poll.

Current Specification:
Servos: Hitec HS-55
Material: 3mm Acrylic
Battery: 6V 1400mah NiMh
Payload: 100 to 200 grams (estimated)
weight: TBA
run time: TBA


http://www.youtube.com/watch?v=s1dXU152tFU

darkback2
12-03-2008, 08:25 AM
As always Matt...Amazing work. I love the detail in the legs. and the fact that you included a mounting place for a head...and all for a price you just can't beat.

Awesome.

DB

Rudolph
12-03-2008, 02:11 PM
I love the micro servo idea. In fact, that's one of the reasons I wanted to learn this stuff was to build something along those lines.

So I voted "maybe", which can mostly be translated to "I wish I had a budget" :)

Obscene
12-03-2008, 11:50 PM
This is great. I would definitely buy this as my next robot investment.

"A micro hexapod for the micro budget." :)

LinuxGuy
12-05-2008, 03:08 PM
You bet I would be interested in the uBug! This would make a great table top hexapod, or possibly something that can be carried by a larger robot and deployed as needed. :)

8-Dale

GWJax
12-06-2008, 12:14 AM
Great work! I can't wait for the final product so I can get one for my self!!

Jax

mdenton
12-07-2008, 06:48 AM
You bet I would be interested in the uBug! This would make a great table top hexapod, or possibly something that can be carried by a larger robot and deployed as needed. :)

8-Dale

Indeed!! How about slung under a helicopter platform :veryhappy:

4mem8
12-07-2008, 11:12 AM
Once again Matt, really nice work. And if my budget allows would also be interested.

Sigma X
12-08-2008, 12:47 PM
it seems awsome i'll try to get one if budget permits

johnnycakes
12-09-2008, 08:50 AM
It looks really interesting. I would like to give it a try. Would it be easy for a no0b like myself?

Resilient
12-16-2008, 03:10 PM
I wouldent buy something like this, but it is almost exactly what I had in mind for a project for a bunch of old micro servos from a couple Mini RC Helis RIP.

mdenton
12-17-2008, 03:11 AM
It looks really interesting. I would like to give it a try. Would it be easy for a no0b like myself?

This kind of depends on what you want to do with it.. As far as getting a hexapod up and running as quickly and easily as possible, I would say the p.Brain-HexEngine would be about the easiest way to do this on market at the moment, simply because it is configured using a serial port and terminal software such as hyperterm or terraterm. Also the miniaturised version of the HexEngine electronics would have a simpler reduced command set tailiored specifically form the ÁBug, whihc would make configuration easier. ;)

ooops
12-22-2008, 08:57 AM
Matt, very cool kit. Put me down as a maybe ... like evryone else, depends on the budget.

elios
12-22-2008, 02:37 PM
I wouldent buy something like this, but it is almost exactly what I had in mind for a project for a bunch of old micro servos from a couple Mini RC Helis RIP.
it's not possible to use model aircraft/heli servos in robotics; is it not?

Quantum
12-22-2008, 03:30 PM
Hitec, Futaba, and many others have always made servos for the rc industry. Thats there main customer. Its just that they jumped on the robotics bandwagon. They just redesigned some servos for more power to allow them to be used in robotics.

There the same thing just more juice for robotics. But with something this small if it can handle it theres no reason you cant use them.

robologist
12-26-2008, 03:17 AM
How about a "Part-no-servos" kit so that alternate servos (http://www.hobbycity.com/hobbycity/store/uh_viewItem.asp?idProduct=662) could be used?

Or even alternate microcontrollers. (Though that obviously wouldn't contain your hex mobility software)

Quantum
12-26-2008, 12:04 PM
the only thing you ned to be cafeful with these micro sized servos is that they all dont have a standard mounting holes. Each one is just a little off or a little bigger/smaller case size. Unlike regular sized that use the same mounting hole patterns.

It could work but you need to compare spec sheets.

paul

4mem8
12-31-2008, 03:43 PM
it's not possible to use model aircraft/heli servos in robotics; is it not?

Yes they should work, they are no different from any other servo, just less powerful for robtics. Also as stated above the lug spacing will vary with different servos in the mini range.

GWJax
01-01-2009, 07:49 AM
Hey 4mem8 why don't we get together and build one our self out of the ShapLock thermo plastic, I have enough to send you more if you want and we can use the botboard 2 for our servo controller board. Let me know if I need to send you more thermo plastic for this if you want to try to remake this cool micro hex walker.

Jax

4mem8
01-01-2009, 03:34 PM
M'mmm cool idea GW, but don't we have enough projects on the go right now, he he, I'm running out of time to do all these projects. PM me as I have to talk to you.

darkback2
01-02-2009, 01:14 PM
M'mmm cool idea GW, but don't we have enough projects on the go right now, he he, I'm running out of time to do all these projects. PM me as I have to talk to you.

Why build your own when you can just buy one...:p Actually this is a really cool little desk top robot. I would totally get one if...:(

DB

4mem8
01-02-2009, 03:14 PM
I tend to agree on this one DB, there is only so much time one has in life he he, and if I had the $'s right now I would get one. But we all know what has taken my robot funds in the last few weeks. ho hum, that's life.

mechanicleez
02-01-2009, 01:46 AM
I am inclined to purchase the micromagic micro sized hexpod MSR-ÁBug for research. It is a quaint construct and because of such make its size appropriate for educational purposes for novice and professinals, alike.

mdenton
02-05-2009, 12:58 PM
I pretty much finalized the design for the MSR-ÁBug today, and have added a number of features, most noticeable the head which is currently just pan, I may look at squeezing on a pan/tilt, but this will probably end up being a hop up option:

http://www.hexapodrobot.com/images/MSR_uBug/MSR_uBug_v21_01_s.jpg

The p.Brain-Á24 is now completely inside the body, with no hole/polycarbonate cover, the production version of the PCB will be red which will look nice showing through the opal acrylic :). There is still al hole at the rear end of the hex for cables access to the inner body area. This body design does mean that people wishing to use a p.Brain-SMB style board, invert mounted on the top of the hex will have difficulty routing the cables below the upper body plate, so I may do another version of the body whihc is open on top for those not wishing to use the p.Brain-Á24.

http://www.hexapodrobot.com/images/MSR_uBug/MSR_uBug_v21_03_s.jpg

I have added three holes at the front of the hex just in front of the battery area. These are two switch holes, and one square hole to pass the battery connector up to the battery area. I have also added two small battery guides on the to deck whihc keep the battery from sliding around, along with the help of an elastic band!

http://www.hexapodrobot.com/images/MSR_uBug/MSR_uBug_v21_04_s.jpg

The battery guides will take a battery up to 35mm wide, of course you could remove them completely for custom designs.

http://www.hexapodrobot.com/images/MSR_uBug/MSR_uBug_v21_05_s.jpg

The standard p.Brain-SMB / SSC32 size mounting points are still available for those additional Atom/BS2 carriers etc. :) (Pictured with p.Brain-SMB + HexEngine for reference. )

The hex weighs in at 375 grams with p.Brain-Á24, switch, pan head and no battery, 485 grams with 6V N Cell NiMh battery.

I have grown pretty fond of the opal acrylic, especially with the black servos, so I think this will be the final colour scheme. I think it will look really nice with the Red p.Brain-Á24 PCB mounted inside.

elios
02-05-2009, 02:40 PM
wow. incredible work.!

DresnerRobotics
02-05-2009, 03:19 PM
Very nice Matt. Do we have any final retail pricing on the kit?

What servos are you using?

mdenton
02-06-2009, 03:10 AM
Very nice Matt. Do we have any final retail pricing on the kit?

What servos are you using?

Servos are Vigor VS-15's. Equivalent spec to Hitec HS-65HB.

I'm just starting to get a price together. :happy:

Xan
02-06-2009, 06:07 AM
Great work Matt,

As always very sexy looking! I'm curious about the price.

Xan

mdenton
02-07-2009, 03:23 AM
Great work Matt,

As always very sexy looking! I'm curious about the price.

Xan

Thanks Xan, I'm just starting to get the price together, but this very much depends on the servos I end up using, drop in here:http://www.hexapodrobot.com/forum/viewtopic.php?f=5&t=180&start=50 and leave any feedback re. design etc.

P.S. Great work on your hexapods, if your ever in the UK, or want to visit, let me know :)

Xan
02-09-2009, 03:06 AM
Hi Matt,

Thanks for your compliment about my work! Let’s say I saw some good examples on the web ;)

Thanks for your invitation! I’ll defiantly keep it in mind, there is a good change you’ll see me drop by some time. :D

Xan

whichwayisup
02-15-2009, 10:07 AM
Any news on price?

mdenton
02-16-2009, 10:36 AM
Still working on the price as I'm still deciding which servos to use, but it looks as though the price is on target between ú275 & ú325 GBP.

tom_chang79
02-23-2009, 01:22 AM
She's a beaut Matt! One question I've always had about micro hexes, what are you guys using for the power pack? 5-cell AA? 5-cell Sub C? 1s Lipo (you can get 2x 1s Lipo "saddle" packs for RC cars)...

mdenton
02-24-2009, 03:01 AM
She's a beaut Matt! One question I've always had about micro hexes, what are you guys using for the power pack? 5-cell AA? 5-cell Sub C? 1s Lipo (you can get 2x 1s Lipo "saddle" packs for RC cars)...

I'm using a 5 Cell N pack, 6V NiMh 1600mAh, whihc gives about 50 mins continuous walk time. I have also got a 1300mAh LiPo pack that will fit, but you then need to regulate the voltage down to 6V.

mdenton
02-26-2009, 01:30 PM
One of my forum members asked:


Don't forget to take video too with another coke bottle for size reference! :P

Well, I couldn't find a coke bottle, but I did find a coke can:

http://www.youtube.com/watch?v=pJtkZZ28vRo

And a few size references:

MSR-H01, Hexapod V2 & MSR-ÁBug
http://www.hexapodrobot.com/images/MSR_uBug/uBug_V2_MSR_H01.jpg

MSR-H01 & MSR-ÁBug
http://www.hexapodrobot.com/images/MSR_uBug/uBug_MSR_H01.jpg

MSR-H01 & Hexapod V2
http://www.hexapodrobot.com/images/MSR_uBug/uBug_V2.jpg

xx2747
02-26-2009, 05:34 PM
Wow
I wish I could make something like that...
If I had the money and skill, I would make a micro-sized humanoid.
BTW, what's the difference between digital servos and analog servos?

mdenton
03-16-2009, 06:11 PM
I need your help with another decision.. As you may know the test kit I had back from the laser cutters was in solid white, not translucent white as per my prototype and as I was intending to use. Now I have seen the ÁBug in solid white, I'm starting to like it :? So, here is an image of the ÁBug in white, well almost in white, as you can see the top body panel is still translucent, so I have photographed it from beneath to give a better idea as well as next to a translucent leg and a comparison of the two upper body plates in both colours.

http://forums.trossenrobotics.com/www.hexapodrobot.com/images/MSR_uBug/uBug_White_01.jpghttp://www.hexapodrobot.com/images/MSR_uBug/uBug_White_01.jpg

http://www.hexapodrobot.com/images/MSR_uBug/uBug_White_02.jpg

http://www.hexapodrobot.com/images/MSR_uBug/uBug_White_03.jpg

http://www.hexapodrobot.com/images/MSR_uBug/uBug_White_04.jpg

So what is the general consensus.. solid white or translucent white?

Adrenalynn
03-16-2009, 10:23 PM
I like the translucent. Ubercool.

Zenta
03-17-2009, 02:00 AM
I prefer the solid white. I liked the black&white contrast. Matt, you must peel of the large labels on the side of the servos...;)

-Zenta

mdenton
03-17-2009, 04:08 AM
[quote=Zenta;28906]I prefer the solid white. I liked the black&white contrast. Matt, you must peel of the large labels on the side of the servos...;)

-Zenta[/quote

That's an interesting point Zenta, because currently my coxa design take into account the extra thickness added by the servo labels. I wasn't sure if people would bother peeling them off, not all of them come off easily and may require a little clean up.

So thats a good questions, would it bother people having to remove the side labels? ( Irritateingly this is the only servo model I have had from Vigor whihc comes with the side label? )

Xan
03-17-2009, 10:00 AM
Personally I prefer the white contrast to. Not that the translucent version looks bad, it’s just a matter of taste I guess.

I can’t see it clearly but I think the servo type is on the “horn-side” anyway. So peeling off the labels on the side wouldn’t lose information with a good friend like google. And it would improve the looks!

Xan

darkback2
03-17-2009, 10:16 AM
As for the servo labels, People can take those off themselves...its not that hard.

I like the translucent stuff...That way people can add lights and such.

Over all great robot.

DB

Xan
03-17-2009, 10:19 AM
That way people can add lights and such.
Good point. :)

Zenta
03-17-2009, 11:45 AM
That's an interesting point Zenta, because currently my coxa design take into account the extra thickness added by the servo labels. I wasn't sure if people would bother peeling them off, not all of them come off easily and may require a little clean up.

Wow, you sure have a very accurate coxa design since you've taken the extra thickness into account. The labels dosen't seem to be that thick though.

I did only mention the labels since the rest of your robot are pretty close to perfect :cool:, and personaly I felt they took to much attention.

About the translucent vs. solid, honestly I think they both look great (for me its a 45/55%). But DB had a good argument about lighting effect though...

-Zenta

mdenton
03-18-2009, 03:47 AM
Thanks to all for the feedback, including the results from my forum its currently translucent thats winning.


Wow, you sure have a very accurate coxa design since you've taken the extra thickness into account. The labels dosen't seem to be that thick though.

The coxa and femur servos are sandwiched togeterh in this desing, whihc keeps the build and parts simple and hence smaller and the price lower, but this means the thickness of a label 0.2mm can make a difference.



I did only mention the labels since the rest of your robot are pretty close to perfect :cool:, and personaly I felt they took to much attention.

Thank you :), I guess I just liek to leabve things standard, but rest assured the labels ont he tibiaa are now gone!! ;)

mdenton
02-11-2010, 03:39 PM
At last I got some time to have a final go at a ┬ÁBug kit, this time based on the Hitec HS-65HB servos :) . In order the fit the servos I had to make a few changes to the kit, as the servo horns are larger than that of the vigor servos. Essentially the femur and tibia had to be beefed up a bit, and at the same time I have made them a bit longer.

http://www.hexapodrobot.com/images/MSR_uBug/HT/uBug%20HT%20Standing%20s.jpg

Initial tests are very pleasing, the servos behave very well, as to be expected by their superior quality when compared to the Vigor servos. They are also pretty fast, this combined with the light weight legs allows a pretty fast leg transition time of around 0.25 to 0.3 S.

For the pan head I have used a cheaper HS-55 servo, this will help keep the kit cost down, I'm still using the 1600mAh 6V N cell pack in the picture, however, I think I will swap to a cheaper more powerful 6V 2400mAh AA pack, which means a slight re-design of the battery steady.

I will get several colours cut, Black, Opal/White & Orange. I'm hoping the "all in" basic kit price to be around £375, including:



Acrylic kit and fittings (including pan head)
18 x HS-65HB serovs
1 x HS-55 servo
p.Brain-┬ÁHexEngine Control Electronics
RJ-232 Setup/Control lead
6V Battery pack
Battery switch harness


Of course options would be available such as the ESD200 bluetooth module.

Thoughts suggestions welcome.


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


http://www.youtube.com/watch?v=w-IzwdNXNdo

gallamine
02-11-2010, 03:58 PM
Nice work. Glad to see that the uBug rose from the ashes of the previous servo problems. Did you find any other possible servos that would work, or did you just go w/ the HS-65HB's for safety?

mdenton
02-12-2010, 03:50 AM
Nice work. Glad to see that the uBug rose from the ashes of the previous servo problems. Did you find any other possible servos that would work, or did you just go w/ the HS-65HB's for safety?

Safety, exactly that. I did consider Savox servos, but there was not much price difference.

Adam
02-12-2010, 07:42 AM
I may be interested. What controller options are available? Is it plug and play with any controllers like the PS2?

The battery mount looks unnecessary. I personally would just use velcro or servo tape...would look cleaner.

mdenton
02-12-2010, 10:18 AM
I may be interested. What controller options are available? Is it plug and play with any controllers like the PS2?

The battery mount looks unnecessary. I personally would just use velcro or servo tape...would look cleaner.

The HexEngine supports PS2 control, along with a serial interface for users own control applications or a bluetooth link from a PC etc.

I haven't decided about the battery steady yet, it may just be a flat surface and the use of velcro as you suggest. However, if a battery steady is included, it doesn't necessarily need to be fitted.

mdenton
02-18-2010, 12:17 PM
A couple more images and video of a possible pan & grip head design.

http://www.hexapodrobot.com/images/MSR_uBug/uBug_PG_Head_03.jpg

Obviously this gripper is never going to lift a coke can ;) but its kind of fun and looks pretty nice, I think. However, I'm not sure whether to make it a standard part or an option. If its and option, then the gripper would probably only come in one colour, black.

http://www.hexapodrobot.com/images/MSR_uBug/uBug_PG_Head_02.jpg

Test Video

http://www.youtube.com/watch?v=u5wKLaOhGaI

Zenta
02-18-2010, 01:04 PM
Awesome Matt!

It looks like a cute little beetle ;)

-Zenta

Adam
03-15-2010, 11:53 AM
That's really excellent. I think you should make the gripper part of the kit; otherwise, all it can do is walk around. It's not going to be a very expandable platform anyway, so might as well give it functionality. IMHO, the gripper takes it from "cool" to "awesome".

I'm very interested in getting one of these.

How are you controlling it? For me personally, I would like to be able to just plug in a wireless PS2 controller and have plug-n-play locomotion and gripper control.

mdenton
03-15-2010, 02:23 PM
Hi Adam,

A colleage and I spent the weekend at the uk maker faire, moving small objects arround our display table using the uBug and gripper head, and I have to agree it does make it even more fun :happy:. We did burn out one gripper servo, due to leaving the grip servo stalled while holding an object, so some care is needed. Unfortunatly I can't fit the servo saver into this design as I did with the larger gripper head kit for my MSR-H01.

PS2 control is built into the HexEngine. During the weekend we were using my netbook running the podjoy application with two tripple axis joysticks to control the uBug via a Bluetooth link.

Orac
03-15-2010, 07:00 PM
We were quite impressed by how dexterous the gripper was yesterday, Matt was moving AAA batteries around with high accuracy and no perceptible lag.

cdop
03-16-2010, 02:29 AM
Awesome project!
As I plan to build a hexapod in small size in future, I did some research and came across this servo:
http://www.rc-fever.com/emax-digital-high-torque-mini-metal-servo-12g-2kg-01s-es08md-p-7957.html
Features:
metal gear
0.08s / 60 degrees (6V)
33.3 oz-in (2.4kg/cm)
This looks even better than the hs 65hb, or did I miss something?
And its even cheaper (in Germany at least) - 13 EUR compared to 19 EUR for the hs 65hb.
Thumbs up and good luck!

mdenton
06-18-2010, 05:34 PM
Well here you go, released at last!! ;)

http://www.hexapodrobot.com/store/product_info.php?products_id=74

Product page on our site:

http://www.hexapodrobot.com/products/robots/Hexapod_MSR-uBug.html

Information section on our main info page:

http://www.hexapodrobot.com/information.html

Bound to be typo's, guide issues etc, let me know when you spot them!

Adam
06-18-2010, 07:31 PM
Cool! :D

Are these going to be available going forward? I'm tight on cash right now with vacations and various home projects going on, but I will definitely be in the market closer the Christmas.

SteamAutomaton
10-24-2010, 12:31 AM
Quick question: Can this system be modified into a octopod spider?

Curiously yours,

SA;)