View Full Version : Robert the Robot!

05-02-2009, 04:09 PM
Say hello to Robert!
Recently I have finished the hardware part of my RoboGames contestant, Robert.
Its a modified RoboNova with 18 DoF.
Its a bit heavy on the top cause of the two extra 5498s so it falls often...(a bit of a problem for kung-fu), but I'm planning on adding a gyro.
Here's some pics:
Also, I was talking about getting that zigbee controller.. well, here it is



P.S.-Thank you GDubb and DB for all the awesome help on Robert!

05-02-2009, 05:01 PM
Looks great, you did a good job.

05-02-2009, 07:18 PM
Do you spot those brackets?

05-02-2009, 07:58 PM
Hey Nice brackets...I have some other parts you might find interesting. I had Gyros on Bheka and have the modded sholders.

I'll bring them to RoboGames.


05-02-2009, 09:49 PM
very nice have vid of him walking ??

05-02-2009, 11:52 PM
How tall is this guy?

05-03-2009, 09:00 PM
Thanks for the comments.
Here's a size comparison with isobot & a bottle.
Also, how do i upload a video?
File attachment?


05-03-2009, 10:21 PM
Youtube, then just paste the link.

05-03-2009, 10:26 PM
Can we get some more info on what Robert does? What are the tubes at the end of his arms? Which competition will he be in?

05-03-2009, 11:12 PM
Looks sweet XX,

I'll see you in SF...funny that...

Don't you live like right across the ferry?

upload a vid when you get a chance so we can all see this guy move.

05-04-2009, 01:21 AM
Youtube. Got it. I'm just too lazy to do that right now but maybe tomorrow... (or the next day:rolleyes:)
Um, the tubes at the ends of Robert's arms are just, well, hands. Went to Home Depot and figured it would be good to push other bots over with this stuff.

DB, yes I live on Edmonds. It's just hard to go over to the island cause I can't drive. Don't know if I've told anyone here but i'm 14.:veryhappy:

Oh, Robert's going to attend sumo and light wght kung-fu

05-07-2009, 10:50 PM
Here's a video I edited.

YouTube - Robert the Robot - modified biped robot

Robert's a bit unstable...
I'm gonna add a gyro later.

05-08-2009, 12:13 AM
Sweet vid man...

With a little work that will be a formidable robot.

You may want to try dropping the center of gravity a bit during your running sequences by bending the legs a bit more. Not that I know from experience, just going off of what I have scene.

See you at robogames!


05-08-2009, 12:34 AM
Thanks... I'll try to do that. I'm hoping a gyro would help (?)
BTW, What robots are you bringing to RoboGames?

05-08-2009, 10:24 AM
Nice work, I like the video.

See ya in San Fran.

05-11-2009, 09:35 PM
So... An update on Robert:
I received the PG-03 Gyro today and am trying to figure out how to do the wiring.
I need a extension cord with two male ends but the local hobby shop doesn't have it. They said I have to solder or crimp some wires but I can't.
I'm digging the web to find the cord... Any help?

05-12-2009, 05:05 AM
Sparkfun! (http://www.sparkfun.com/commerce/product_info.php?products_id=8431) Even sold here! (http://www.trossenrobotics.com/store/p/5774-Sparkfun-Jumper-Wires-M-M-Set-of-10-.aspx)

05-12-2009, 08:52 PM
Thanks. I found this here too. Would it work?
here (http://www.trossenrobotics.com/store/p/5258--Universal-Male-Male-Jumper-12-.aspx)

05-12-2009, 08:55 PM
That is exactly what you need..

05-16-2009, 11:18 PM
OK.. So I installed the gyro and it works. That is, only on the overall template I'm not using. So, I'm stuck; I use a PS2 controller template, and the gyro code doesn't work there. I think it's the way the MAIN is set up(?)
Any help?

Also, I'll upload a vid of Robert balancing with the gyro using the overall template

05-17-2009, 12:01 AM
What I find hard about the idea of using a gyro is that you have to have it effect the servo positions without having it set the servo positions. So if you can get the output of the gyro, it would affect the servos by adding or subtracting from the position of various servos not setting the position...

Not sure if that is what the problem is for you, but I hope it helps.


05-18-2009, 11:02 AM
I'm sure you have already looked at the Gyro stuff on the Robosavvy forum, if not do so. The gyro setup stuff shouldn't have to be in "Main", all you do there is turn the gyro on and off when calling a subroutine.

In looking at the Template that goes with the Hitec PS2 control, I think the place for the gyro setup would be just below the "Motor power on" section before main. Then turn the gyro on or off when calling the subroutines in "Main".

Hope I'm looking at the right template, I Dl'd it from the Hitec site in Germany.


05-22-2009, 03:51 PM
Here's the promised gyro video.
I still haven't resolved the gyro with PS2 controller but I hope to before the games.

YouTube - Robert (RoboNova-1) Gyro Test

05-22-2009, 04:03 PM
Nice and solid.. Good job..

05-23-2009, 11:12 PM
what does i mean by turning the gyro on or off?
for the original template I just had to paste the code.

05-24-2009, 11:51 AM
Hi Jack,
Guess I wasen't very clear about this. Sorry.

There may be times you don't want the gyro to be operational. If you have small subroutines that turn the gyros on and off, then you have better control over them.

For example lets say you want to do a handstand, then return to the standard pose. You don't need the gyro for the handstand, and it will probably cause the legs to act badly if left on. Here's how I did it.

GOSUB Gyro_Off
GOSUB handstanding
DELAY 1000
GOSUB standard_pose
GOTO main_exit

You would need 2 more subroutines for this. One to turn the gyro off, and one to turn it back on. This is how I did it. Just set which ever servos you are controlling 1 or 0. In this case I was using servos 1,2,19,and 20. Later I added a second gyro and controlled servos 0 and 18 for sideward movement.


GYROSET G6A,0,1,1,0,0,0
GYROSET G6D,0,1,1,0,0,0


GYROSET G6A,0,0,0,0,0,0
GYROSET G6D,0,0,0,0,0,0

These are just the way I did things. There are probably several methods of doing the same thing.

06-05-2009, 11:51 PM
At the last moment the brackets have to break!
Both pieces (not really brackets) that connect the shoulder servo to the rotation and arm servos have been snapped. Aluminum .040's.
This really sucks. RoboGames is next week, school finals are next week... Maybe I'll just go there to watch others compete or fix this in a day or something. Shoot this really sucks. Did I say that already?

06-06-2009, 02:37 AM
Got pics of the broken parts? If you pm me a detailed drawing with specs I can fab 'em and bring to the games Fri morning. If you hurry, I might be able to do 'em tonight.

06-06-2009, 09:04 AM
I'll bring all the extra parts that I have to Robogames. Maybe we can fux it.


06-06-2009, 09:23 AM
I live a ferry ride away. post detailed pics of the parts, and I'll see what I can make.


06-06-2009, 03:01 PM
Thanks so much for the support.
Here are the pics sorry they're blurry:

The blue markings are cracked spots and the last two pics are of my replacement piece. (I eliminated the big hole and bent the piece to fit without the big hole)






In the midst of all this confusion, I still have a question - what does it mean to fabricate parts?

06-06-2009, 03:08 PM
it means to make them...Glad to see your up and running again?


06-06-2009, 03:12 PM
Kinda. I just made them right now. I'm thinking of making like 5 more just in case though.
Oh, and my gyro's still not working=(...

06-06-2009, 03:44 PM
If I need to bring any machine-tools, let me know. I'll try to at least bring a Dremel or two, but if you need a drillpress or small brake, that can probably be arranged.

06-06-2009, 06:20 PM
Where can I buy a lot of screws and nuts and bolts cheap?
I'm sick and tired of buying $1.75 packs from hobby shops that only have 4 screws in them.

06-06-2009, 06:24 PM

06-06-2009, 06:29 PM
Depending on exactly what you are looking for, McMaster-Carr can often have pretty decent prices (especially on the socket head stuff, especially in metric). But be warned.. they can kill you on some products, and sometimes on the shipping (although, I did receive my UPS ground shipment in under 36 hours from time of ordering.. )


06-11-2009, 01:17 AM
Am I the only person that's like really not ready for RoboGames?
I need to make more moves for Robert and since his brackets broke at the most perfect time, and I still have school.

06-11-2009, 01:40 AM
I've got a *very* radical looking Pelican case sitting in my gun safe that suggests that Fergs' Issydunyet is, indeed, dunyet. Of course, he wanted to keep it secret, so it's all zip-tied and packing-taped closed...

06-11-2009, 08:52 AM
I've got a *very* radical looking Pelican case sitting in my gun safe that suggests that Fergs' Issydunyet is, indeed, dunyet. Of course, he wanted to keep it secret, so it's all zip-tied and packing-taped closed...

The zip-ties are to keep it closed... other wise it would likely have blown open during shipping.. it's way overpacked....


07-12-2009, 09:00 PM
Ooh! Ooh!
It's time to unveil Robert 1.2!
This new version of Robert has a new arm design. It's very simple and good-looking. I think it's much better than the older version. This arm orientation makes the arm longer too.
Here's a video. Oh, and in the video, at the end, there's a supercharge section. It wasn't really intended but I thought it was cool how a move could make others following it faster. I called it supercharged.:happy: Anyway, I figured out that it was caused by an unclosed highspeed seton. Also, the move itself was coincidental too: It was supposed to be a clap.

Hope you guys like it. I still have that "I build Robots" sticker fro RoboGames on Robert. I don't think i'll come off easily. oh well.
YouTube - Robert Version 1.2 (new arms)

07-18-2009, 02:01 PM
Robert's getting a new head! His original robonova head was too small for his body so...
I designed another one in Sketchup. I hope to print it out soon.
The last picture's with a servo





07-18-2009, 04:11 PM
The changes to the arms look really good.

As for the head, how were you planning to cut that one out?


07-18-2009, 05:14 PM
I was gonna use a 3d printing service

07-20-2009, 04:32 PM
So the planned plastic head is put off for a while due to certain reasons...
Meanwhile, I still wanted a moving head so I made a makeshift head. It's just an upside-down servo (kinda like the khr robots) The face is narrow as a stick but oh well... it still moves.





07-20-2009, 05:48 PM
looking good! that will look pretty good one the "head" is completed... in the mean time just carefully peel an orange and make a bowl hat lol

07-20-2009, 09:59 PM
Yes, That gave me an idea!
Maybe I'll make him a face or just a bigger head to attach to the servo with cardboard or something.
Thanks Nagmier! hehe

07-30-2009, 12:35 PM
Any robonova owners - what screws are the ones used to attach to the horn? (the small ones)
I can't find the exact title of "PH/T-2 2x4" anywhere. The online shops have too many varieties.
help.. I'm running out of screws and am to the point where I have to take away some from the other servos.. :(

07-30-2009, 02:19 PM
Those are a 2mm diameter X 4mm long self tapping pan head screw. You should be able to get some at about any decent hobby store. They don't have to be Hitec's, just the right size.


07-30-2009, 04:25 PM
Try www.microfasteners.com (http://www.microfasteners.com). This is where I get my extra screws.

08-02-2009, 06:05 PM
So what are the numbers?
like #0, 1, 2, etc?

08-02-2009, 06:36 PM
Standard SAE screw sizes - assuming "the numbers" you're referring to are screw sizes. Google will return you a screw size table.

08-03-2009, 12:16 AM
Does it have to be self-tapping?
I can't find them in metric sizes.:(
I can only find machined screws.

08-05-2009, 07:19 PM
update on robert:
I received my order from the 3d printing service! Yay!
It's a part for the hips. I'm excited because it's perfect! Down to the 0.1mm.
I'm trying to give robert a waist rotation.
Also, I designed it in Sketchup. (pretty effective considering it's free)
Some pics:






08-05-2009, 08:24 PM
Wow Good deal! That seems to have come out well... Is the printing service local to you or online?

08-05-2009, 08:39 PM
Kool part! Let us know how well it stands up to wear and tear. Is it pretty durable ABS plastic?

08-06-2009, 01:28 AM
The material looks strong - I haven't used it yet so I'm not sure. It's only 2mm though.
It's an online service.

Also, the little R on the back is Roert's signature(?). I could print anything out so... why not add something to make it unique and only for my robot? hehe

08-08-2009, 11:28 PM
I got my screws today in the mail!
Thanks to all the wonderful support here at the forums I was able to get the right sizes!
Thanks everyone!

09-09-2009, 05:56 PM
Robert was pictured in the latest ROBOT magazine's Robogames 2009 article. It's a small picture just showing the back of the robot but still it's awesome!:)

I also saw many robots from this forum like Giger and Bheka.
Robogames was a blast.