PDA

View Full Version : [Project] A-pod, an ant inspired hexapod



Zenta
01-06-2009, 05:36 PM
Hi all roboteers!
Lately I've been working with a new hexapod. This is my third hexapod project. And this time I wanted to make something very different.
I've always been inspired by insects and especially ants, check out Alexander Wild Photography (http://www.alexanderwild.com/) of ants and you'll see what I mean.




I've not tried to copy any ant, I think that would be almost impossible with the large legs compared to the body. I also wanted to use 645 servos for the coxa, femur and tibia. But I wanted A-pod to have the following:

A large and a very flexible head, ideal 3 DOF
Large mandible that can grab around a bottle/can
A thorax, the main body with a natural shape for all legs and main battery
A 2 DOF controlled Abdomen (a tail, gaster) holding all electronics
So far I'm done with the coxa, femur, tiba, mandible, head and body parts. I've not made the abdomen yet, soon to be made :wink:
This time I've choosed a very different coxa design, I know it has some cons. I wanted to place the femur servo joint very low and also increase the horisontal distance between the coxa and femur joint. Making this distance to large have also some cons but I think this are going to work ok. Here are some pics of the coxa design:
The coxa are made of three parts:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_coxa_01.jpg

Completely mounted with the femur servo:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_coxa_03.jpg

Here are the femur and tibia parts. I've used the same material I used for my original Phoenix, ABS texture plastic 5mm.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_01_femur_tibia.jpg

I've no pictures of only the head/mandible section yet, but I think you'll get the picture of how I designed it using black SES brackets and some custom made plastic parts. I'm going to add some rubber to the inside of the mandibles to make it easier to grab and hold objects.
Here are some pictures of the body with mounted head and legs. I placed the black dummy dome just for making it a bit easier to imagine how it would look like with the abdomen.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_02.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_03.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_04.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_05.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_06.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_07.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_08.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_09.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_10.jpg

The last pictures demonstrates how flexible the head are going to be.
Pardon the messy wires. But I've a lot of work left :p
Please let me know what you think.

BTW: Adrenalynn, I'm sorry for the large pictures (800*600) ;)

EDIT: A-pod video part 1:

http://www.youtube.com/watch?v=0jyBiECoS3Q

A-Pod video part 2:

http://www.youtube.com/watch?v=GDaNkff5Yyg

-Zenta

gdubb2
01-06-2009, 05:53 PM
Zenta.. WOW, I am amazed by your work. I am looking foreward to the movements you have planned for this one.

Gary

sthmck
01-06-2009, 06:12 PM
Brilliant work! Cant wait to see it in action.

Adrenalynn
01-06-2009, 06:19 PM
Wow! That's beautiful!

Is that aluminum in the first picture CAST? Wow! I haven't seen anyone going THAT custom/involved! I can't even imagine thinking that far ahead!

jes1510
01-06-2009, 07:24 PM
Ok you have to stop making so many awesome things.

elios
01-06-2009, 10:13 PM
:eek::eek::eek:wooowww....:eek::eek::eek:
that is incredible!

jes1510
01-06-2009, 10:17 PM
I have to know how on earth you got the nice rounded bumps in the middle of the abdomen. Stunning work!

Zenta
01-07-2009, 05:20 AM
Thanks to you all for your nice comments!


Wow! That's beautiful!

Is that aluminum in the first picture CAST? Wow! I haven't seen anyone going THAT custom/involved! I can't even imagine thinking that far ahead!

Thanks, yes it is aluminium. They are handmade using a XYZ milling machine.


Ok you have to stop making so many awesome things.
I hope that was a joke... ;)


I have to know how on earth you got the nice rounded bumps in the middle of the abdomen. Stunning work!
Thanks, I'll soon post some information of how I made the upper bodyplate. Actually, its rather easy too. And it didn't required any advanced tools either.

jes1510
01-07-2009, 07:22 AM
Great! I'm looking forward to finding out how you did that. I can always use new techniques to put in my back pocket.

ooops
01-07-2009, 07:45 AM
Zenta, wow this is the coolest hex you have done so far!!! Actually, this may be the coolest hex I have seen so far.
Very awesome and awe inspiring!
More pictures please:)

robologist
01-07-2009, 09:37 AM
This is really artistic, very ant-like! The body shaping is very cool, and the flexibility of the "mandibles" is pretty amazing! Hope to hear how you shaped the abdomen, guessing a heating while it was attached to a few things, but not sure.

Adrenalynn
01-07-2009, 04:43 PM
>> Thanks, yes it is aluminium. They are handmade using a XYZ milling machine.

Aha - so it was milled from cast, not cast into shape. Whew. I almost had to quit and go take up knitting or something. ;)

metaform3d
01-11-2009, 06:50 PM
Really, really fantastic! A hexapod with a gripper is a whole different game. I'm also looking forward to hearing about how you made the shape of the thorax (not abdomen; learn your invertebrate biology people!).

Zenta
01-12-2009, 04:35 PM
Zenta, wow this is the coolest hex you have done so far!!! Actually, this may be the coolest hex I have seen so far.
Very awesome and awe inspiring!
More pictures please:)

Thanks, wow strong words! I'm glad you liked it!


This is really artistic, very ant-like! The body shaping is very cool, and the flexibility of the "mandibles" is pretty amazing! Hope to hear how you shaped the abdomen, guessing a heating while it was attached to a few things, but not sure.

Thanks!


Really, really fantastic! A hexapod with a gripper is a whole different game. I'm also looking forward to hearing about how you made the shape of the thorax (not abdomen; learn your invertebrate biology people!).

Thanks
Yes, you're correct! The body section are called the thorax ;)

OK, I'll try to shortly explain how I made the "molded" thorax (upper body plate).
It's a very easy method and you'll need very few tools. I used some different hammer's, a heat gun and high pressure air for fast cooling (not necessary but useful). A picture of the tools:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_thorax_03.jpg

At first I used a bandsaw to saw out the lower and upper body plates:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_thorax_01.jpg

Finished cutting:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_thorax_02.jpg

I'm sorry for not having any pictures when I did the actual process.
Next step in the process was to make a solid frame for holding the body plate in a fixed position (especially the coxa positions). I used 5mm aluminium to make the frame. Then I placed the frame onto two wood stick I had laying around:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_thorax_04.jpg

Then I mounted the upper body plate with the bottom side upwards onto the frame. After that I started to heat up the body plate (ABS plastic) with the heating gun. You've to heat it alot until a critical point when the plastic starts to get very soft. At this point you can easily shape it using different tools like a hammer etc. I used the pressured air for fast coolant.
This picture show my first attempt that didn't go so very well because I was stupid enough to drill the holes for the head section before I started the "molding" process.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_thorax_05.jpg

Anyway, I think this gives you a little picture of how I did it. :wink:

BTW, I'm gonna control my A-pod with this custom made remote control made by Jim Frye (owner of Lynxmotion):

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/diy-remote.jpg

You can read more about the DIY remote project here (http://www.lynxmotion.net/viewtopic.php?t=4399&postdays=0&postorder=asc&start=0)

-Zenta

Zenta
01-27-2009, 05:04 PM
Hi,
I've done some progress lately with my A-pod. I've made a battery holder for the LiPo battery:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_batteryholder_01.jpg

I'm using some cheap servo horns as a clamp for holding the battery in place.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_batteryholder_02.jpg

Pics of the battery inside the holder:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_batteryholder_03.jpg

There are still plenty of space for mounting an extra battery on top, I just have to replace the spacers with some that are longer. 10200 mAh would rock! LOL But I think one is more than enough, I don't want to add more weight. Maybe if I one day choose to replace the femur and tiba servos with some 5990's, then I think two batteries would do the job.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_batteryholder_04.jpg

And here are some pics of the head section, nothing new but easier to see how the SES brackets are mounted:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_head_01.jpg

A closeup of the custom head mounting block:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_head_03.jpg

I've also worked with the abdomen (tail section). Here is a picture of the main abdomen frame. You can see the hole for mounting the electronics:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_01.jpg

Just a closeup of the ballbearing joint at the other side:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_02.jpg

And finaly the abdomen frame together with the upper and lower abdomen cover:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_04.jpg

That's it for today. I'll post more info when I've done more.

-Zenta

Adrenalynn
01-27-2009, 05:20 PM
Those servo horns as battery hooks is really clever! Great idea!

DresnerRobotics
01-27-2009, 05:22 PM
+ Rep!

Amazing work and great photos as always, can't wait to see it walking!

Quantum
01-27-2009, 07:51 PM
Awesome work.

I thought about the battery plate on top but never to release it from the bottom. Very easy access.
Are you gluing the two halves together? Or bolting somehow from inside?

Paul

Zenta
01-28-2009, 02:02 AM
Thanks Adrenalynn and Tyberius (thanks for the rep!).

I did also place a little ballbearing inside the horn (between the top of horn and head of screw).


Awesome work.

I thought about the battery plate on top but never to release it from the bottom. Very easy access.
Are you gluing the two halves together? Or bolting somehow from inside?

Paul
Hi Paul,
Thanks.

Are you thinking of the to halves for the Abdomen? I'm gonna use some sort of bolts inside aligned with the mounting holes for the electronics, I've not figured it all out yet ;). And the halves wont be together but with some space apart.

-Zenta

metaform3d
01-28-2009, 03:02 AM
Terrific work and thanks for following up with photos. Do you have some sort of uniformly white room that you work in?

Adrenalynn
01-28-2009, 12:56 PM
Yeah, his photos are always top-notch, flat light, great depth, super-clean, rock solid macro focus... Kinda like his bots. They look magazine/catalog ready every time, don't they? I +rep'd and raised ya a box as well, not just for sharing that battery mounting method (which is right up my alley) and the bot itself, but also for the photo quality. Thanks for pointing that out, Meta. They were so nice I didn't even really think about how much was invested in photographing them.

I don't take that kinda time for my photos here generally, but I'm an avid photographer. I would love to see you write a tutorial on photographing this stuff. Although I know the techniques, I'm just too lazy. ;)

Zenta
01-28-2009, 01:21 PM
Thanks for your kind words about mine pictures Metaform and Andrenalynn!!

I'm using a rather "old" Olympus E-500 (http://www.dpreview.com/reviews/OlympusE500/) dSLR camera for all pictures with a 50 mm macro lens (http://www.dpreview.com/lensreviews/olympus_50_2_o20/) and using two old manual flashes (OM T-32), a white umbrella with one of the flash, background using a white roller-curtain (is that the right word http://hexapodrobot.com/forum/images/smilies/icon_e_confused.gif ), a reflector on the other side and shooting the other flash up to the ceiling.

This an old picture of my photo-setup:

http://i214.photobucket.com/albums/cc6/ZentaOlbaid/Photo_setup.jpg

This is not a very expensive equipment. I bought the T32 flash on ebay for about 50 $ each.

-Zenta

Adrenalynn
01-28-2009, 01:43 PM
Definitely please consider writing a tutorial. When I'm shooting product shots I use soft-boxes with modeling lights. I like your umbrella reflector/flash configuration - it's "cheap" and easy. I'm surprised you get enough light with a white umbrella - but your light is certainly very modeled in your photos. Do you post-process at all to bring the light level and detail up? Is that foam-core you're using as a reflector on the other side? Love how it's just leaning on the tripod!

Sorry - way OT. Please do consider a tutorial on your setup!

crabfu
01-28-2009, 01:47 PM
man you don't do anything half arsed do you? Not only are your projects truly inspiring, but your pics/setup are amazing as well :)

-Crabfu

Zenta
01-28-2009, 04:21 PM
Definitely please consider writing a tutorial.

I'll do that when I find time for it...:rolleyes:
Both flashes shoot at GN32 so there are plenty of light. Short explained settings for camera: ISO100, shutter 1/160 sec and aperture F8 to F9 (gives you good DOF (Depth Of Field). JPEG from camera, no post process, only croping and saving for web format using photoshop.



Is that foam-core you're using as a reflector on the other side?

Correct, its foam-core. ;)



Love how it's just leaning on the tripod!


For that I'm using some manfrotto equipment: Super Clamp (http://www.manfrotto.com/Jahia/site/manfrotto/cache/off/pid/2718?livid=53&idx=54) + Magic arm w/bracket (http://www.manfrotto.com/Jahia/site/manfrotto/cache/off/pid/2727?livid=2&idx=7). The Foam-core plate are mounted to the bracket. I just love the magic arm, its very useful not only for photo...

---

Thanks for your comment Crabfu!

-Zenta

sam
01-29-2009, 03:18 PM
Truly Beautifull Zenta!

Love your work always nice to see. Can't wait to see it move :happy:

HakBot
02-03-2009, 03:25 PM
Zenta,

Once again you have gone over the top! Keep up the good work. Cant wait to see what you do next.

Zenta
02-04-2009, 03:19 AM
Thanks for your comments Sam and HakBot!

I'm glad you liked it. :happy:
For the time I'm working/fighting with all the servo wires, they are almost driving me crazy :mad:. So the progress are a bit slow. Very many of the wires need extension since all electronics are placed in the abdomen. Maybe I should placed the battery inside the abdomen instead? Anyway, I'm not gonna change my mind about that now...

I'll post more pics when I'm finished with all the wires.

-Zenta

Zenta
02-28-2009, 12:52 PM
Hi,
I've been working with the mandibles and I had to do some modifications. The original low profile servos are replaced by standard size servos, simply because the low profile servo seemed not to be strong enough. Meaning that I had to make a new set of mandibles and also a new head-plate.
In this post I'll explain how I've tried to solve the sensor part for the mandibles. I feel that pictures says more than 1000 words, so therefore I'll post some pictures with a few comments.

---

This picture is a little overview of all parts I used for adding sensor to one mandible:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_mandible_fsr_03.jpg

Custom made spacers:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_mandible_fsr_01.jpg

This picture demonstrate how the spacers are going to be mounted to the servo:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_mandible_fsr_02.jpg

And here is a picture of how the mandible are going to be mounted:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_mandible_fsr_04.jpg

Another view:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_mandible_fsr_05.jpg

I'm guessing you've already understood the simple principle here :wink:
As you can see I've also added a soft foamrubber(?) to the mandible to make the grip more solid.

lnxfergy
02-28-2009, 07:06 PM
Truly amazing, I love that design...

-Fergs

Zenta
03-02-2009, 04:55 AM
Truly amazing, I love that design...

-Fergs

Thanks Fergs!, glad you liked it!

Zenta
03-02-2009, 04:57 AM
Hi,

I didn't finsihed the calibration part this weekend, but the new head and mandible with FSR sensor are done. So I grabbed my camera and took some pictures again.
The abdomen/tail part containing SSC32, BB2 with BAP28, 2x Turnigy switch regulators, power switch for electronic and servos and a switch for serial select between BAP and PC for SSC32. I'm using a 2S 800 mAh LiPo for electronics and a 2S 5100 mAh LiPo for servo powering. Both batteries are monitored by a little Maxtro Battery Monitor (http://www.hobbycity.com/hobbycity/store/uh_viewItem.asp?idProduct=7224) that gives you a loud beep when the LiPo's needs to be charged/changed. I know that this could be solved by letting the BAP doing the monitor, but I wanted a solution that worked when I didn't use the BAP (only SSC32). I've not mounted the RC receiver yet.
To guide all wires to the tail wasn't an easy task... Total of 25 servos and 7 pair of sensor wires makes alot of spagetti! :lol:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_05.jpg

Another view:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_06.jpg

I've not mounted the lower and upper abdomen cover yet, but this picture gives you a little hint:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_abdomen_07.jpg

I made a stand, giving A-pod's leg full freedom while testing and calibration:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_stand.jpg

A-pod on the stand:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_on-stand.jpg

Some pictures of A-pod:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_11.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod_12.jpg

Here are two pictures of A-pod together with Phoenix for comparing sizes (ah, I forgot to crop the picture...):

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod-vs-phoenix_01.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/a-pod-vs-phoenix_02.jpg

Comments are appreciated!

-Zenta

jdolecki
03-02-2009, 02:19 PM
Everything about it looks great. It shows quality and craftsmanship at the higest level.

I know I asked you before, why dont you cover your Bots with a realistic type ant body/covering?

I thing the sight of seeing something that big crawing around looking like a real ant would freek out people.

Zenta
03-03-2009, 11:20 AM
Everything about it looks great. It shows quality and craftsmanship at the higest level.
Thanks for your nice comment, highly appreciated!



I know I asked you before, why dont you cover your Bots with a realistic type ant body/covering?

I believe the answer is simple: I don't know how, have never tried it and don't have the material. But it would be cool to try it sometime. Any links for material to use?

-Zenta

Adrenalynn
03-03-2009, 01:30 PM
How about doing home vacuforming? Tutorials out the wazoo in the usual places for that kinda thing.

darkback2
03-03-2009, 03:04 PM
I would argue not to go down that route...unless you want to. From an artistic point of view I would argue that to try to cover your robots in a more realistic skin would actually detract from them as robots. Part of what I persive to be the beauty of your designs is how they bring out the animorphic qualities of your robots while still presenting them as robots. When I watch the videos of phoenix I know that it is a robot which represents a spider. When I look at A-pod, I know that it is a robot which represents an ant. If you cover either in spider or robot skin, then they just become a fake spider and ant respectively. Basically what I am trying to say is if you make a fake spider or ant, then you will be judged by me atleast on how realistic your fakes are.

Personally I think you should stick to the path you are on. Your giving your robots a sense of life, and animating them beautifully. Needless to say I find them inspiring.

DB

pladoh
03-03-2009, 04:10 PM
dude, frickin amazing work! i cannot wait to see where this one takes you! very organic.

droidcommander
03-04-2009, 02:44 PM
Looks like your well on your way to world domination!

I for one welcome Zenta and his robotic insect army!

DroidCommander

Zenta
03-06-2009, 01:27 PM
Personally I think you should stick to the path you are on. Your giving your robots a sense of life, and animating them beautifully. Needless to say I find them inspiring.


Thanks for your advice DB!
Trying to make a real copy of life is very hard and often almost impossible since the nature are so much more complex. If you have seen or heard prof. Robert Full talking about copying the principle of nature you know what I mean. My A-pod project have only been inspired by nature, my intention was never to copy it.

I'll try to stick to the path you mention ;).

---
Recently I've been a bit frustrated about my A-pod since the ABS plastic material I'm using is a bit more flexible than expected. So I'm going to do some modifications by reinforcing the leg construction by using an additional femur part on the opposite side. I've already made one prototype and it didn't look to bad either. But the best part is that the leg became much more stable. I've to order some parts before I can finish it.

-Zenta

Zenta
04-05-2009, 04:42 PM
Hi,

Finaly, today I managed to make a little video of A-pod. The original sound had some glitches so I needed to replace the soundtrack in youtube. I'm not done with all the mechanical improvements for the legs yet, but the body movement and head control work fine (therefore very little walking). I'm still playing with the code. I've also rebuilt the abdomen joint, the low profile servo didn't manage the panning function so its replaced with a 645.
I'll post more pictures when I'm done with the legs.

Enjoy!


http://www.youtube.com/watch?v=0jyBiECoS3Q

-Zenta

DresnerRobotics
04-05-2009, 04:51 PM
......

Wow. Just wow.

Adrenalynn
04-05-2009, 04:52 PM
Holy Cow! 03:16 BOGGLE!

I'm pretty stingy these days with the +Rep - but I had to +Rep you. Wow.

Zenta
04-06-2009, 12:39 AM
Thanks Tyberius! And thanks for the rep Adrenalynn! I'm glad you liked it.
FYI I also posted the video in the first post of this thread.

-Zenta

Quantum
04-06-2009, 12:52 AM
Is it all IK? How long have you been pounding away at the code?

Just ... awsome.

I watched the video a couple of times.

robologist
04-06-2009, 02:14 AM
That is just a beautiful video of the work done, very amazing Ant Zenta, thanks for the display.

I love what appears to me as a very organic,flowing movement. Very captivating.

ScuD
04-06-2009, 06:18 AM
That is absolutely positively the creepiest bot i have ever seen.

And for that, I salute you Zenta. Amazing work, once again.

I too am wondering how you get these smooth movements, is it precalculated or on-the-fly IK?

Zenta
04-06-2009, 06:42 AM
Thanks for your positive comments!
About the IK.
All body and leg movement are IK calculated (on the fly).
The abdomen's (tail) position are calculated by the current position of the rear legs and the current rotational position of the body.

The head are mostly controlled by plain FK (forward kinematic). To keep the head in a level position while doing body rotation the head simply compensate its position by using the inverse body rotation value.

The mandibles control are also pretty simple and remotely controlled using one of the sliders on the RC remote. When the mandibles "feels" the object they adjust the force (using FSR sensors) to the correct level. The FSR_Torque_Level are also remotely adjusted.

-Zenta

Alex
04-06-2009, 09:17 AM
okay, that video sent chills down my spine....

Well done Zenta! +rep

gdubb2
04-06-2009, 10:47 AM
Very very nicely done..I love it.
Gary

ScuD
04-06-2009, 02:44 PM
I guess I should really start using some 32-bit microcontrollers... I'm just not smart enough to get the IK done with 8-bit numbers :p.

Truly inspiring work, I cannot state it enough.

darkback2
04-06-2009, 03:46 PM
Your video was absolutely amazing. You did a great job with this robot. I'm just amazed at the power, presision, and control you exhibit. Seriously this is really impressive. I especially like how you link the head and tail motion with the motion of the body. Really inspiring.

DB

Azinman
04-06-2009, 09:38 PM
This is an AMAZING hexapod!!!!!!!!!!! I'm amazed with all of the fluid, life-like motion the A-pod displays while keeping all of its legs planted on the same spot on the ground! :) I especially liked the part where it poured the glass of water to! :D

DresnerRobotics
04-08-2009, 01:14 PM
60,000 views on your youtube video so far, you're on the front page for Science & Technology too! Congratz!

Zenta
04-13-2009, 08:57 AM
Hi,

Thanks for your comments!


60,000 views on your youtube video so far, you're on the front page for Science & Technology too! Congratz!

I'm just back from a little easter vacation. And I was a bit shocked when checking my mail, about 2900 mails from youtube! It seems like A-pod have been one of the spotlights videos for some days too. At this moment I'm not sure where to start... to many PM's on youtube and over 2200 comments, 2300 ratings, 1000+ subscribers and 375000 views.

I can't understand it, my only intention with the video was to show you my progress so far on A-pod... LOL

-Zenta

Adrenalynn
04-13-2009, 01:44 PM
A little fame is a dangerous thing. A *lot* of fame will crush you. :)

Congrats! [I think...] :)

francis.mendes
04-25-2009, 09:21 AM
I can't understand it, my only intention with the video was to show you my progress so far on A-pod... LOL


It's easy to explain it. When I saw the video for the first time, I saw something really amazing. All the robots I already saw in my life was really clumsy, even those made by the giant companies.
Your A-pod is fantastic, the movements makes me think it is alive! I showed the video for many friends, and most of them thought it was an animation.

You did a great job, Zenta. Congratulations.

Noodle
04-25-2009, 06:29 PM
It's easy to explain it. When I saw the video for the first time, I saw something really amazing. All the robots I already saw in my life was really clumsy, even those made by the giant companies.
Your A-pod is fantastic, the movements makes me think it is alive! I showed the video for many friends, and most of them thought it was an animation.

You did a great job, Zenta. Congratulations.

I did the same. I thought it was probably the best robot I've ever seen, so I showed numerous friends. Who showed friends.

tom_chang79
08-19-2009, 02:48 AM
Zenta,

That, has, got, to, be, the, most, beautiful, hexapod, I've, yet, to, see, from, you.

I'm speechless... Utterly speechless...


Whatever happen to your Octo project?

Also, curious, do you have a whole new set of 645MG for every single one of your hexapods? If so, how many 645MGs have you bought total?

;)

Zenta
08-19-2009, 04:50 AM
Zenta,

That, has, got, to, be, the, most, beautiful, hexapod, I've, yet, to, see, from, you.

I'm speechless... Utterly speechless...


Whatever happen to your Octo project?

Also, curious, do you have a whole new set of 645MG for every single one of your hexapods? If so, how many 645MGs have you bought total?

;)

Thanks, for, your, nice, words... ;)

I've ended the Oxyopus project, but maybe one day I'll build a new one. For the time I've new plans for my next hexapod project. A very different from what I've ever made before. Can't say more..

About the 645's. I don't like to brag but I have some of them.. 53x 645 and 8x5645. (Don't tell my wife :p). Compared to what Tyberius have used on all his RX-64's thats (almost) nothing.

Zenta

tom_chang79
08-19-2009, 11:22 PM
53x 645 and 8x5645.

:robotsurprised:


(Don't tell my wife :p).

If she ever finds out, just tell her you spent it on your mistress, you might be in less trouble that way... Hehe

;)

Adrenalynn
08-19-2009, 11:38 PM
About $2,000. That's actually not that bad considering... ;)

tom_chang79
08-20-2009, 02:20 PM
Let me finish your sentence for you


About $2,000. That's actually not that bad considering... ;)

Tyb?

When Tyb runs for office, we might have a government program called "trade in your clunker for a rebate on Giger!"

Can you imagine a hexi with RX64? It'll be like a mechanical Hercules Beetle...

Hmmm....

*Checks the bank account*

Never mind

*runs away*

lnxfergy
08-20-2009, 02:58 PM
Can you imagine a hexi with RX64? It'll be like a mechanical Hercules Beetle...

At some point, I'm hoping to build an RX-64 based Issy... of course, add in brackets and you are running around $1k per leg....

-Fergs

darkback2
08-20-2009, 03:59 PM
Hey Zenta,

I'm sure you have been asked about this in the past, but...times and things change.

Any plans to make a commercial version of A-pod? I know the plastic body parts might be a bit difficult, but I was thinking you could do some sort of hot press with a mold...Actually...I am thinking you could make a vacuum molded body panel, and couple it with an aluminum sub frame... In anycase, I would love to see this go the path of phoenix. Its a great bot, and a great concept.

DB

Zenta
08-20-2009, 04:50 PM
Any plans to make a commercial version of A-pod? I know the plastic body parts might be a bit difficult, but I was thinking you could do some sort of hot press with a mold...Actually...I am thinking you could make a vacuum molded body panel, and couple it with an aluminum sub frame... In anycase, I would love to see this go the path of phoenix. Its a great bot, and a great concept.


Hi DB,

Yes, I do get this question alot ;)
For me this is just a hobby and I've no plans to make this a business (so far). A lighter commercial version should be very possible, but its a long way to go. I believe Phoenix was a much easier bot to duplicate though.

Anyway, its hard to say what will happen in the future.

-Zenta

tom_chang79
08-26-2009, 02:36 PM
If you ever do fab up some A-Bot, let me know. I will definitely PREORDER it from you. I really love your decision to go with the bigger head. Makes your A-Bot look like a soldier ant...

EDIT:
-----

Forgot to mention. Your Oxyopus is beautiful! When are you going to jump on that again? I think octo-peds really have a huge advantage in that it can mimic a hexapod's gait and have two free arms to manipulate the environment... Just like most arachnids... I'm really sure your wife REALLy loves the Oxyopus...

Snagaslas
09-07-2009, 06:31 AM
BEAUTIFUL!

The video is so exiting and cool, imagine if you got some "body" on that of rubber or something it would be so neat to scare people up. Imagine people out in a cabin going to take a leak and BAM on hte porch is a HUGE ant :)

Nice work!

Zenta
09-08-2009, 07:26 AM
I really love your decision to go with the bigger head. Makes your A-Bot look like a soldier ant...

Thanks for your comment Tom!
The big head sure has its con and pros. It often gets in conflict with the front legs, but then again it can grab large objects. And yes, I did had the soldier ants in mind when designing the head for A-Pod.



Your Oxyopus is beautiful! When are you going to jump on that again?
I ended that project because of the crappy servos I used. Maybe one day I'll try an octopod again, but not in the near future.

Snagaslas: Thanks for your comment, so far I've not considered giving it a skin or covering it with something. I like it as it is, and I don't want to add more weight to the "poor" 645's ;).

I'll soon post more updates about the reinforcements I've done with the legs.

-Zenta

Zenta
09-15-2009, 01:58 AM
Hi,
I thought it was time for a little update about A-Pod. As mentioned before, I've done some minor reinforcements to the legs and rebuilt the abdomen joint. The abdomen 2 DOF joint uses 2x 645MG.
Here are two pictures showing the legs with double femur parts and a bracket for stabilizing the femur servo. This made the legs much more stable.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130691.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130692.jpg

Two pictures of the new abdomen joint. I'm using the molded injection hinge from LM and a custom plastic bracket for mounting the two servos together.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130694.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130695.jpg

And here are some new pictures of A-Pod:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130729.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130732.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130706.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130725.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130699.jpg

I've not done anything with the code yet. I wont post any new vids before I'm satisfied with the walking part. It walks much better now but the code need some changes I'll post more about that later. I'm still working with some outdoor projects and therefore I've had very little time for robotics. Hopefully later this autumn.

-Zenta

gdubb2
09-15-2009, 10:49 AM
All I can say is WOW.. This is a work of art. Your quality of workmanship and attention to detail is some of the finest I have seen. Good job.

Gary

jes1510
09-15-2009, 03:43 PM
Beautiful!

sam
09-15-2009, 07:27 PM
Wonderful

tom_chang79
09-15-2009, 07:28 PM
Hi,
The abdomen 2 DOF joint uses 2x 645MG.


You gotta quit buying these things Zenta... I can only imagine the look on your wife's face when she discovers your secret stash of receipts!!! :robotsurprised: ;)



I've not done anything with the code yet. I wont post any new vids before I'm satisfied with the walking part.


That's how I feel about my IK code too. It only walks and yaws right now, I can't get the pitch and roll portion of it correct... And experimenting with it lately doing the successive rotations, my code is very much trashed... There are so much cleanup to do after I'm satisfied with its performance...


:p


Anywho, I am SUPER jealous of your ant bot. The sole reason why I got into HEXapod is because I love insects and bugs, ESPECIALLY Ants!!! I think I'm going to try to kludge a head on my Phoenix once the IK is done...

Beautiful, beautiful, beautiful! Can't wait to see more vids... I love your first vid, how you can move the rotation's origin around. Very awesome!

:D

Zenta
09-16-2009, 01:51 AM
Hi, thanks to you all for the nice words and comments!
Highly appreciated!


You gotta quit buying these things Zenta... I can only imagine the look on your wife's face when she discovers your secret stash of receipts!!! :robotsurprised: ;)

Ehm, "The thing you don't know about, doesn't hurt you"... LOL
We all have a little dark secret...




Anywho, I am SUPER jealous of your ant bot. The sole reason why I got into HEXapod is because I love insects and bugs, ESPECIALLY Ants!!! I think I'm going to try to kludge a head on my Phoenix once the IK is done...

Beautiful, beautiful, beautiful! Can't wait to see more vids... I love your first vid, how you can move the rotation's origin around. Very awesome!

:D

I do love ants too (should be very obvious :rolleyes:). Thanks for your words Tom, and good luck with your code and the head for Phoenix.

-Zenta

Hondabot
10-21-2009, 06:05 AM
Life like, very beautiful.
Great work there.

Adam
10-23-2009, 09:59 PM
Excellent biomorphic design. Truly inspiring!

Zenta
03-25-2010, 05:24 AM
Hi,
I just wanted to update you with some pictures I took last summer of A-Pod. I took him outdoor to the wilderness...

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_01.jpg




http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_02.jpg




http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_03.jpg




http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_04.jpg




http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_05.jpg




http://forums.trossenrobotics.com/gallery/files/1/5/3/5/apod_nature_06.jpg




Currently I've started working on the code again for XBee control. I'll post more info when I've done some more progress.

-Zenta

innerbreed
03-25-2010, 12:07 PM
love it. :happy:

Zenta
04-20-2010, 02:22 AM
Hi,

I've done alot of work lately on the code part for A-Pod. At the moment A-Pod walks very well and the code for movements are improved too. To be honest I'm very satisfied with the result. The combination of the mechanical improvements, some hardware changes to the DIY, Xan's latest v2.0 and Kurt's XBee/SSC binary code did the magic! I've also decreased the total weight of about 85 gram, all servos and electronics are now powered by the same LiPo.

Today I've uploaded a new video:


http://www.youtube.com/watch?v=GDaNkff5Yyg

Enjoy.;)

-Zenta

elios
04-20-2010, 03:46 AM
absolutely incredible work Zenta... completely amazed every time.

Again well done mate

darkback2
04-20-2010, 08:00 AM
Super sweet video as always zenta. You've inspired so much of what I do...so thank you.

The movement upgrades that you did really show. I love the way you seam able to slow down and the movement so organically. It gives the A-pod, and all of your robots for that matter a much more realistic feel.

Also, I feel like T-hex needs a gripper...or something...I guess I just started to feel like he felt left out. :)

DB

Zenta
04-20-2010, 08:14 AM
http://www.youtube.com/watch?v=GDaNkff5Yyg

Super sweet video as always zenta. You've inspired so much of what I do...so thank you.

The movement upgrades that you did really show. I love the way you seam able to slow down and the movement so organically. It gives the A-pod, and all of your robots for that matter a much more realistic feel.

Also, I feel like T-hex needs a gripper...or something...I guess I just started to feel like he felt left out. :)


Thanks DB!
Yes I agree that I've to do something more with T-Hex. The major point was demonstrating the high ground clearance when he walked over the box.

-Zenta

Zenta
04-20-2010, 08:15 AM
absolutely incredible work Zenta... completely amazed every time.

Again well done mate

Thanks for your comment! I'm glad you liked it.

-Zenta

Chench
04-20-2010, 09:09 AM
Great work. The movements are really refined, like the mechanics. Roughly how long does it to process the IK, rotation functions etc. for each cycle?

ellindsey
04-20-2010, 06:58 PM
Amazing work. Really fluid movement. I need to start doing more sophisticated movement on the bots I build.

Couple things I'm wondering. I've been using HS5645 servos in my robots. I've found the gearbox to fail at a disturbingly high rate, specifically with the second-to-last gear in the gearbox loosing teeth. I suspect that the 2DOF legs and crude ambling gate I'm using has a lot to do with that. Have you had any issues with servo gearbox failures?

Also curious as to the endurance on a single battery charge, and in general how much operation you can get out of it before having to do any significant repair or maintenance.

Zenta
04-21-2010, 01:08 AM
Great work. The movements are really refined, like the mechanics. Roughly how long does it to process the IK, rotation functions etc. for each cycle?
Thanks,
If I remember correctly the IK calcs take around 33mS. One complete main cycle take around 50 mS.

Zenta
04-21-2010, 01:42 AM
Amazing work. Really fluid movement. I need to start doing more sophisticated movement on the bots I build.

Couple things I'm wondering. I've been using HS5645 servos in my robots. I've found the gearbox to fail at a disturbingly high rate, specifically with the second-to-last gear in the gearbox loosing teeth. I suspect that the 2DOF legs and crude ambling gate I'm using has a lot to do with that. Have you had any issues with servo gearbox failures?
Thanks!

For my hexapods I'm using the 645MG servos, they are mechanically the same as 5645MG. So far I've not experienced any faulty gears. But the electronic board (the H-bridge) on 5 of mine total 80x 645's has broke down.



Also curious as to the endurance on a single battery charge, and in general how much operation you can get out of it before having to do any significant repair or maintenance
On A-Pod one battery (2S LiPo 5000 mAh) holds for about 40 minuttes of operation. Beside for some loose screw I've not done any significant repairing. I'm mostly using Phoenix for code testing and thats probably the reason for the 5 broken servos (speed testing), and I've been using these servos (mounted on Phoenix) since 2007 very often.

jdolecki
04-21-2010, 07:24 AM
Can A-pod and Phoenix communicate with each other?

Zenta
04-21-2010, 07:54 AM
Can A-pod and Phoenix communicate with each other?
They both have a XBee module so I think that should be possible, but there are no communication between them today.

ellindsey
04-21-2010, 12:09 PM
Are you running the 645MG servos straight off the 7.4V battery voltage, or do you have any kind of voltage drop or regulator in there? They're technically only rated for 6.0V, although it has been my experience that they'll tolerate 7.4V.

Zenta
04-21-2010, 01:40 PM
Are you running the 645MG servos straight off the 7.4V battery voltage, or do you have any kind of voltage drop or regulator in there? They're technically only rated for 6.0V, although it has been my experience that they'll tolerate 7.4V.
No, for all my hexapods i use two Turnigy switch regulators at 6v output. No worries ;)

tom_chang79
04-26-2010, 03:18 PM
Zenta,

The physical beauty of your A-Pod is matched by the control scheme you have in it! Your work is an inspiration for me to get off my lazy butt and start doing something with my hexapods...

/jealous


As for running the 645 at 7.2 (7.4V for LiPo), I have done it before. It gets HOT QUICK. You get gobs of more power, but only because you are dissipating more power through it. I HIGHLY DO NOT RECOMMEND to do so, unless your uncle owns Hitec and you have buckets of servos for free (one can only dream :wink:)!

LinuxGuy
05-19-2010, 11:36 AM
Yes I agree that I've to do something more with T-Hex. The major point was demonstrating the high ground clearance when he walked over the box.
Your work is always amazing! :D I would love to have those mandibles as a gripper on my robots. :) Maybe somebody should pick up the ball on this and make it into an accessory for sale..

8-Dale

WhiteHawk
06-22-2010, 07:34 AM
Do you have any plans to make A-pod avable as a kit for people to buy soon? I would love to buy it if so. :happy: I could scare a few people I know with it :veryhappy:

Zenta
06-24-2010, 01:12 AM
Do you have any plans to make A-pod avable as a kit for people to buy soon? I would love to buy it if so. :happy: I could scare a few people I know with it :veryhappy:
Hi, there are no plans for making A-Pod a kit at the moment. Sorry. If so, it would probably look a bit different, since some parts is a bit difficult to replicate.

Tigra
08-02-2010, 03:33 AM
Zenta I am in total awe of your A-pod and if it was available as a kit or ready for use I would be selling my brothers kidneys so I could buy it ;P I would sell my own but they left me about 13 years ago ;)
A question if you do not mind me asking, and if I did not miss it in your posts, About what did that beauty run for its parts??
I am totally new to robotics, Heck I have never built a bot yet, but I am working on the learning side at this time, My brother and I are buying bits and pieces here and there and are going to build a machine each to fight for fun and education, We have a small electronics lab here at our place and robotics just hit us as something we wanted to learn, then I saw A-pod and Zenta, I bow to you in respect and Awe, and I will be watching your posts from now on :)

Tigra Solaran

Zenta
08-02-2010, 03:19 PM
Hi,
Thanks for your comment!

About what did that beauty run for its parts??

I'm not sure what you mean, do you mean what material I used for A-Pod?

I wish you and your brother good luck with your projects!

DresnerRobotics
08-02-2010, 04:09 PM
I think he meant: How much did it cost you to build?

Tigra
08-02-2010, 10:28 PM
Thanks Tyberius, Thats exactly it, the servos, controller and the frame parts, Just an estimate if you can, I am just trying to get an idea of what I would have to pay to get something along A-Pods lines.

Thank you, My brother and I are both interested, heck it would allmost be worth it for me to trade my new laptop ;) but not quite, it's an I7 quad core, but oh the temptation!! Ahh well I will just have to try the old fashioned One piece at a time method ;)

Zenta
08-03-2010, 01:35 AM
To be honest, I'm not sure.
But it did cost me a lot of time though...

Do the math and check the cost of:



23x645MG servos
2xTowardPro MG996R servos(mandibles)
BB2
BAP28
SSC32
2x Turnigy 8A UBEC
5100 mAh racing LiPo
1 FSR
RC receiver
DIY RC remote
1,5xASB-04 (1,5 = 3 single brackets)
1,5xASB-09
7x PSH-04 (6 for the legs and 1 for the abdomen)
+ alot of custom made parts, ABS texture plastic, aluminium, hex nut screws (3 and 4 mm), wires etc..


I'll guess some of the parts would be hard to set the right price though.

-Zenta

Tigra
08-03-2010, 08:00 AM
Thank you Zenta, That information is very helpfull, I would not try to copy your project, but it gives me ideas, perhaps for something I might one day be able to post here :)
My brother and I are waiting for a pair of tracked bodies for our starting projects and are playing with the propeller chip as the brains, hopefully this will be a good start :) Not anything like we have seen here, but one has to start someplace.

ERK, Sheesh, gotta reformat this old laptop, or move to my new one ;) locked up for a few minutes and thought I was going to have to start over.

As I was saying, Your info helps me see better how you constructed A-pod, I used to fly RC long ago and it just boggles the brain at times to see servos in this new and I have to say better role since they can almost seem alive in this use. :)


Thank you again.

tom_chang79
08-04-2010, 01:03 AM
hey Zenta! I've been using those Turnigy BEC units too, two on my Phoenix. Have you ever noticed that it gets really hot after a short run with it? Like 10 minutes into running it? I'm powering mine with a 4000mAH/40C LiPo

Zenta
08-04-2010, 01:17 PM
hey Zenta! I've been using those Turnigy BEC units too, two on my Phoenix. Have you ever noticed that it gets really hot after a short run with it? Like 10 minutes into running it? I'm powering mine with a 4000mAH/40C LiPo
Do they both get hot? What servos are you using?
None of mine get very hot at all. The temperature increase but they are not burning hot. I've never measured the temp though. I've used 10 of them. I've experienced one time that one of them got very hot after a failure on one of my servos (shorted +/-), so I had to replace it.

WhiteHawk
09-16-2010, 01:10 AM
In refference to your post on 9-15-09, have you ever thought about using 1/4 (.635cm) plywood for the legs? Might give it more strenght in the legs with less parts, plus you can sand and paint the wood black :)



Hi,
I thought it was time for a little update about A-Pod. As mentioned before, I've done some minor reinforcements to the legs and rebuilt the abdomen joint. The abdomen 2 DOF joint uses 2x 645MG.
Here are two pictures showing the legs with double femur parts and a bracket for stabilizing the femur servo. This made the legs much more stable.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130691.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130692.jpg

Two pictures of the new abdomen joint. I'm using the molded injection hinge from LM and a custom plastic bracket for mounting the two servos together.

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130694.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130695.jpg

And here are some new pictures of A-Pod:

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130729.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130732.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130706.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130725.jpg

http://forums.trossenrobotics.com/gallery/files/1/5/3/5/p9130699.jpg

I've not done anything with the code yet. I wont post any new vids before I'm satisfied with the walking part. It walks much better now but the code need some changes I'll post more about that later. I'm still working with some outdoor projects and therefore I've had very little time for robotics. Hopefully later this autumn.

-Zenta

Zenta
09-16-2010, 05:57 AM
In refference to your post on 9-15-09, have you ever thought about using 1/4 (.635cm) plywood for the legs? Might give it more strenght in the legs with less parts, plus you can sand and paint the wood black :)
Hi,

I've not considered using plywood. At the moment I'm very satisfied with the result so I don't see any needs for replacing any leg parts. Thanks for you suggestion though!

djsures
11-03-2010, 03:41 PM
Wow! Great design and beautiful pictures. A lot of work went into the shell and it shows! I have a few technical questions for you. I rewrote my servo control routines for my framework moving forward to my next robot. I'm embedding the servo control in a timer to control up to 25 servos on the same microchip that utilizes my autonomous A.I. 2d/3d mappin code. While doing so, I ran into a few timing issues that I "eventually" resolved. So that had me wondering what cpu hardware your A-Pod is running off of?

- What sensors does A-Pod use for it's autonomous mode?
- Is the autonomous code contained in A-Pod's shell?
- How many cpu's does A-Pod have contained in his shell?

My hex pod won't nearly be beautiful as yours... It's absolutely stunning!

Zenta
11-04-2010, 12:38 AM
Wow! Great design and beautiful pictures. A lot of work went into the shell and it shows! I have a few technical questions for you. I rewrote my servo control routines for my framework moving forward to my next robot. I'm embedding the servo control in a timer to control up to 25 servos on the same microchip that utilizes my autonomous A.I. 2d/3d mappin code. While doing so, I ran into a few timing issues that I "eventually" resolved. So that had me wondering what cpu hardware your A-Pod is running off of?

- What sensors does A-Pod use for it's autonomous mode?
- Is the autonomous code contained in A-Pod's shell?
- How many cpu's does A-Pod have contained in his shell?

My hex pod won't nearly be beautiful as yours... It's absolutely stunning!

Hi, I'm glad you liked it!

A-Pod isn't autonomous at this moment, the only part the I mentioned is "autonomous" is the abdomen. All movements of the Abdomen is a result of the position of the rear leg, body height and orientation.

For electronics I'm just using a Basic Atom Pro28 on a BB2 and a SSC-32 servo controller.

BTW: I had all my 4 robots (Archer, A-Pod, T-Hex and Phoenix) on an exhibition this weekend. All robots was very popular, especially A-Pod and T-Hex. One of the kids that saw A-Pod started to cry when A-Pod suddenly started to run towards him..

djsures
11-04-2010, 03:30 AM
Hi, I'm glad you liked it!

A-Pod isn't autonomous at this moment, the only part the I mentioned is "autonomous" is the abdomen. All movements of the Abdomen is a result of the position of the rear leg, body height and orientation.

For electronics I'm just using a Basic Atom Pro28 on a BB2 and a SSC-32 servo controller.

BTW: I had all my 4 robots (Archer, A-Pod, T-Hex and Phoenix) on an exhibition this weekend. All robots was very popular, especially A-Pod and T-Hex. One of the kids that saw A-Pod started to cry when A-Pod suddenly started to run towards him..

That's amazing, so it's all controlled from a remote? It's movements are very fluid. Does the remote send commands to the Atom, then the Atom determines the servo movements and tells the SSC-32?

So if you push "forward" joystick on the remote, does the Atom have the code for all of the servo positions to walk forward? And then the Atom controls the servos via the SSC-32?

Zenta
11-05-2010, 02:06 AM
That's amazing, so it's all controlled from a remote? It's movements are very fluid. Does the remote send commands to the Atom, then the Atom determines the servo movements and tells the SSC-32?

So if you push "forward" joystick on the remote, does the Atom have the code for all of the servo positions to walk forward? And then the Atom controls the servos via the SSC-32?
Yes, thats exactly how its operated.;)

Zenta
11-25-2010, 11:32 AM
Hi,

A local TV company in Norway (TV vest) made a short interview with me in my workshop where I make all my robots. It's all Norwegian speech but I've added english subs, just hit the [CC] button to turn on captions.


http://www.youtube.com/watch?v=VjrZURLbWS8

darkback2
11-25-2010, 04:24 PM
Congratulations... That is awesome and you managed to mention both Trossen Robotics and Lynxmotion. :-)

Really though, I think what people find so fascinating is the amount of "life" that your robots seam to poses. Again, Great Job!

DB

Zenta
11-26-2010, 12:43 AM
Thanks DB!

The interview lasted for over 30 minutes though, but they managed to shrink it to 3 minutes. I did mention a lot more and demonstrated much more too. So I'm glad they managed to include Trossen Robotics and Lynxmotion..

Tigra
11-26-2010, 01:38 AM
Hey Zenta,
Nice T.V. Spot, Fantastic workshop, and Your A-Pod has gone beyond robotics and has become Art.
I love your work and thank you again for the posts here, they are inspiring!!

Scorpion
02-01-2012, 11:02 AM
Hello all!

A few years ago i've made a hexapod for a college project at the time it look awesome but i had a problem with the power supply to the robot and with the mechanic parts of the legs. I've used at the time 12 servo. It worked great for 5 minutes and it was completely autonomous.

Today i saw this amazing robot that's making what i wanted to do 10 years ago. I don't know if Zenda look at this tread or not but i wanted to ask if he can give me the power schemes of the servos, maybe i can reactivate my old bot again if i have those schemes :D

Thanks

Zenta
02-02-2012, 07:45 AM
Hi,

I'm using a 2S LiPo + a Turnigy 8amp (15 amp maks) 6v regulator for powering.
Not completely sure what you mean by power schemes for servos though..


Hello all!

A few years ago i've made a hexapod for a college project at the time it look awesome but i had a problem with the power supply to the robot and with the mechanic parts of the legs. I've used at the time 12 servo. It worked great for 5 minutes and it was completely autonomous.

Today i saw this amazing robot that's making what i wanted to do 10 years ago. I don't know if Zenda look at this tread or not but i wanted to ask if he can give me the power schemes of the servos, maybe i can reactivate my old bot again if i have those schemes :D

Thanks

Scorpion
02-03-2012, 02:29 AM
Hello,

Thanks for your answer. I was talking how do you connect all of them. You connect the 2 LiPo to Turnigy and all servors are connected to Turnigy?

KurtEck
02-03-2012, 08:16 AM
I believe zenta said that he was using one 2s lipo. I believe that the 2S refers to the size/capacity of the lipo. So he probably simply connects it to his Turnigy and then connects the Turnigy up to the SSC-32, which I believe he is using to connect the servos.

Kurt

Zenta
02-03-2012, 12:17 PM
Actually, I used two regulators (only one 2 cell 7,4v LiPo though). One connected to VS1 and the other to VS2 on the SSC-32. Remember to remove the VS1=VS2 jumper.

Zenta
02-08-2012, 05:30 PM
Hi,

I’m proud to say that Lynxmotion has made a kit of my A-Pod hexapod!

3741
3742
3743

It’s remotely operated using a PS-2 controller. Visit the Lynxmotion forum to find more information about their A-Pod (http://lynxmotion.net/viewtopic.php?f=8&t=7464).
Check out the assembly instructions for the legs (http://www.lynxmotion.com/images/html/build180.htm), body (http://www.lynxmotion.com/images/html/build181.htm), abdomen(tail) (http://www.lynxmotion.com/images/html/build182.htm), mandibles(gripper) (http://www.lynxmotion.com/images/html/build183.htm) and PS-2 connection, calibration and code (http://www.lynxmotion.com/images/html/build184.htm).

Tigra
02-09-2012, 12:24 AM
Hey now! Thats a kit I want! It will terrify my cats! Congrats Zenta, Hope they paid well, Your A=Pod is a totally amazing design, looks more alive than most of the people I know in the real world :P
I was more supprised it took them so long to get a kit out!
Yet another device I am going to have to buy!

WhiteHawk
02-09-2012, 08:39 AM
Are they going to have covers or do we make them our self?

gdubb2
02-09-2012, 09:39 AM
Congrats Zenta.. that's a great job.

Gary

Zenta
02-09-2012, 02:53 PM
Are they going to have covers or do we make them our self?
Lynxmotion do plan to offer them, its just a matter of time. ;)

firemax
01-10-2014, 06:04 PM
Hello! I am very impressed with your work! Your robots look very exciting. I am interested in one question, does A-Pod have correction in relief or it can act only on a flat surface. It would be nice to teach him to adapt to different surfaces if he can not. Please forgive me if I tell realy deletant things, but what if plug in A-Pod servos which can metter the force which puts on ever motion and a hyroscope. This can provide to teach this machine with relief adaptation. It's just will be need to write down new code. What do You think about it?

Zenta
01-13-2014, 07:48 AM
Hello! I am very impressed with your work! Your robots look very exciting. I am interested in one question, does A-Pod have correction in relief or it can act only on a flat surface. It would be nice to teach him to adapt to different surfaces if he can not. Please forgive me if I tell realy deletant things, but what if plug in A-Pod servos which can metter the force which puts on ever motion and a hyroscope. This can provide to teach this machine with relief adaptation. It's just will be need to write down new code. What do You think about it?

Hi,

The code used for A-Pod is based on the Basic Phoenix code written by Xan (Jeroen Janssen). So far this code does not support TA (Terrain Adaptation). I know Xan have been working with TA. But its been awhile since his last update (http://www.youtube.com/watch?v=tU-9Ih5EsCo&list=UUboopbozXXO_caemci3dcBA&feature=share&index=2) on that part.

abeauchot
04-06-2016, 11:56 AM
How can i get the code for this ant robot? We have one at our school but the head and tail are missing code. I have been tasked with getting the head and tail working but after looking over the phoenix code, it look way to complex for me just to start throwing in code since i am a beginner programmer I am afraid to mess it all up. Any help getting the head and tail code would be awesome. Thankyou -Adam