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DresnerRobotics
05-31-2009, 02:42 AM
As some of you may already know, I ran into some pretty major issues with Hagetaka walking correctly. Mostly it boils down to too much payload, and the hip-roll servos needing to be upgraded to EX-106s to compensate. I had Hage walking, but the feet were dragging and causing it to veer off course, which I was not happy with. Not wanting to be without a bot for Year 1 Mech Warfare, I decided to go with a backup plan I had cooking.

3 days of insane amounts of CNC work later... I have Giger:

Giger Beta v0.1:
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc00417.jpg

Giger Beta v0.5:
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc00428.jpg

Giger v1.0 (RX-64/RX-28 version):
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01534a.jpg

Giger v2.0 (EX-106/RX-64/RX-28 version):
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger10.jpg

Giger v2.5 (EX-106/RX-64/RX-28 Mech Warfare variant):
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/andrew_giger.jpg

Giger v3.0 ('Giger Fu' EX-106/RX-64/RX-28 version):
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger1.jpg

Giger v3.5 ('Giger Fu' EX-106/RX-64 version):
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfu2-2.jpg

Zenta
05-31-2009, 01:16 PM
WoW! Thats awesome!

Really massive humanoid. I'm guessing that its not only I that envy you all those 64's...
Excellent built again!

Looking forward to see him walking.

-Zenta

Sienna
05-31-2009, 03:23 PM
Just wow! For some reason, I especially like the head, I have no idea why. (but it needs menacing led eyes :P)

And I am shocked that the RX 64's had such a thing as too much payload!

CogswellCogs
05-31-2009, 10:36 PM
Wow ! It's amazing to me you can crank out such a great looking mech in such short order.

It's a shame that Hagetaka didn't work like you'd hoped. I loved the whole MechWarrior look. Can you describe in more detail the issues you ran into ? What motion does the 'hip roll' servo provide ? Hip roll, I guess, but I don't which hip motion that corresponds to.

Thanks,
CogswellCogs

mannyr7
06-01-2009, 09:27 AM
HATCHETMAN!!!

http://www.exodus-road.com/xcart/files/master/prodpics/1-CBT/classic_battletech_miniatures_IWM_20-864.jpg

DresnerRobotics
06-01-2009, 09:36 AM
Wow ! It's amazing to me you can crank out such a great looking mech in such short order.

It's a shame that Hagetaka didn't work like you'd hoped. I loved the whole MechWarrior look. Can you describe in more detail the issues you ran into ? What motion does the 'hip roll' servo provide ? Hip roll, I guess, but I don't which hip motion that corresponds to.

Thanks,
CogswellCogs

Thanks guys (and gals)!

In most humanoids all the servos are named depending on which axis they are on. Ankle-Roll, Ankle-Pitch, Knee-Pitch, Hip-Pitch, Hip-Roll, Hip-Yaw. Think aerodynamics terminology. The Hip-Roll & Ankle-Roll are the servos that shift the weight from side to side. Hagetaka could shift the weight no problem, but when the lifting foot would raise up, the opposite Hip-Roll servo wasn't strong enough to keep the hips parallel to the ground, and they would sag. If I tried to overcompensate for this, the servos would stall completely. This resulted in the robot dragging its lifting foot across the ground with each step it took, which in turn caused it to veer off course and walk in a very crippled fashion. I was not happy with it at all, thus the rather drastic last minute reconfiguration: I'll very likely revisit Hagetaka when I don't have a competition in less than 2 weeks.

So far Giger is about 1kg lighter than Hagetaka. It's a 22DOF humanoid, 16 RX-64s and 6 RX-28s. Airsoft guns are going to be mounted on the side of the forearms. I'll have full pan/tilt for aiming, as well as being able to toggle finer arm aiming.

Sienna- I'm actually going with a red Cylon type eye ;)

Manny- I actually thought the same exact thing, though it wasn't intentional :)

TOhm
06-01-2009, 09:52 AM
I just have to say...SWEET!

tom_chang79
06-05-2009, 09:36 AM
Just curious, what were you using to power up your RX-64s? I'm wondering if it's a power issue since the spec on the 64 is a beastly 888 oz/in at 15V!!!

Were you using LiPo technology to source the tremendous amount of current that the RX-64s combined will need?

DresnerRobotics
06-05-2009, 10:05 AM
Just curious, what were you using to power up your RX-64s? I'm wondering if it's a power issue since the spec on the 64 is a beastly 888 oz/in at 15V!!!

Were you using LiPo technology to source the tremendous amount of current that the RX-64s combined will need?

Actually I was using a 5S LiPo, which caps at about 21v (max voltage spec for the RX-64s, puts them over 1000 oz-in of torque).

Gotta keep in mind though, Hagetaka had 5 lbs of payload on top of those legs and a very wide leg stance, which was ultimately the problem. Upgrading the hip-roll and ankle-roll servos to EX-106s is probably my next step to getting that project back on track, but I can't afford 2 grand worth of servos given the considerable amount I've already put into this.

New forearms:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc00428.jpg

Bullit
06-05-2009, 07:58 PM
Nice!
He'll be like Zyn's little brother!

Grand Robot Master
06-06-2009, 11:14 AM
does this mean you're completely done with hagetaka? or will you work on it some other time?

Obscene
06-06-2009, 02:29 PM
I think Tyb just said that he plans on working on Hagetaka some more when he can afford the EX-106's for hip and ankle roll, which will be a pretty penny on top of what he's already dropped into the project.

I like Giger, but I'll always have a place in my heart for turkey walkers. *tear*

tom_chang79
06-07-2009, 01:42 AM
Andrew, all I have to say about your Giger is that it is ONE COOL BOT!!! I bet it can take name and kick some, you know as bender puts it, shiny metal ***!

I wonder how Mike is doing with his Ed-209. It has HSR5990TGs all around...

I won't be able to make it to Robogames 2009, I goofed and completely forgot that it was one of my best friend's wedding that weekend (13th)...

Please have someone take a bunch of videos, I want to see your Giger in action!

DresnerRobotics
08-24-2009, 04:17 PM
Doing a bit of reworking:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger-arm-left.png

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger-prototype2_original.png

darkback2
08-24-2009, 05:26 PM
Drawings are cool...I want to see some video already!

:)

seriously though, can't wait to see it all come together.

DB

mannyr7
08-24-2009, 06:13 PM
:robotsurprised: Liking those shoulder extensions. Gives it a Japanese mecha feel, like a shogun. Thought about a samurai style helmet? I seriously do NOT want to arm-wrestle you, claw to claw!

tom_chang79
08-25-2009, 05:51 AM
Once that thing has a double-sided axe in its hands, it's the miniature Axeman from Battletech!!!

Oh you just need a mini Gauss Rifle and mini PPCs and you're in the 31st century!!!

What I really like most about your Giger is that you gave it handles! I guess you thought ahead of safety on where to grip this guy. I truly think that placing your fingers/hands between any of your RX-64s during "testing" would be out of the question (although, maybe you can get Johnny Knox or Steve-O to hold it for you...)

DresnerRobotics
08-31-2009, 11:26 AM
Quick update:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010034_966589.jpg

Used a spare RX-28 I had to add the gripper. The right arm is likely going to turn into just an airsoft gun, instead of a gripper it will just be a mount.

lnxfergy
08-31-2009, 11:36 AM
...spare RX-28....

:eek:

-Fergs

nagmier
08-31-2009, 12:04 PM
Mean... Scary... Beautiful!

Tybs your not in the market for a 3 year old hell spawn (aka my son) are you? He is about the same height mine.

I love seeing this project come together it is just an awesome mech!

darkback2
08-31-2009, 12:17 PM
The gripper is pretty sweet. Any plans on releasing an AX-12 version?

DB

DresnerRobotics
08-31-2009, 12:28 PM
The gripper is pretty sweet. Any plans on releasing an AX-12 version?

DB

I'm not really in the robot parts manufacturing game personally ;)

I could very easily design an AX-12 version and publish the drawings though.

sam
08-31-2009, 06:44 PM
Pretty cool Mech you have there!

Congrats!

I'd love for my (yet to be built) mech to destroy yours :veryhappy: :rolleyes:

Sam

MSK Mech Commander
08-31-2009, 09:47 PM
I feel split. Part of me wants to see that mech work, and then maybe not.
'Cuz seeing that mech makes me really scared.

And then... I remember that I'm in the hex league (phew!):D
Way to go, keep it up!

@sam
What type of mech are you planning to build? Biped? Quad? Maybe even Hex?

DresnerRobotics
08-31-2009, 10:29 PM
There will be an Open League as well, where everything can battle it out ;)

DresnerRobotics
09-21-2009, 01:43 PM
I'll try to get some video up this week, I promise! ;) I've made a lot of progress on this over the weekend.

Also, figured I would share some prototype hands I'm working on. These should be completely doable on my CNC, but I'm also looking at just using roller chain for the fingers as well. Currently this design needs to be scaled down a bit, but it's a start.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hand2.png

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hand3.png

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hand.png

And a 3 finger version as well:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/3finger.png

They would use zipties running down the inside of each finger, coming through a slot on the back of the hand and attached to the servo hinge bracket, still a work in progress and I'll likely scale them down a bit. Inspiration and design pulled from the "Melissa Hands" (http://translate.google.es/translate?u=http%3A%2F%2Fwww.rakuten.co.jp%2Fgrass-road%2F507141%2F852661%2F908161%2F&sl=ja&tl=en&hl=es&ie=UTF-8%5B/url)

Adrenalynn
09-21-2009, 02:31 PM
When do we get to see him walk? :tongue:

MSK Mech Commander
09-21-2009, 03:14 PM
If the hand becomes too destructive (if at all), will it be declared hardcore? I mean, it IS an RX-64 powered hand. I saw the demonstration/"Public safety warning" video.:p

sthmck
09-21-2009, 03:16 PM
the zipties would probably snap

DresnerRobotics
09-21-2009, 03:32 PM
If the hand becomes too destructive (if at all), will it be declared hardcore? I mean, it IS an RX-64 powered hand. I saw the demonstration/"Public safety warning" video.:p

It's just an RX-28 in there actually, and it's not really intended for strength. I have a straight up gripper that is more functional, this is mostly for aesthetics and the challenge of building it.

Adrenalynn
09-21-2009, 04:06 PM
If the hand becomes too destructive, John Connor and the Governator will suddenly appear and assassinate Tybs, snag the hand, and melt it down. So I don't think we have much to worry about.

MSK - not directed at you specifically, but as a general statement:

[RANT ON]

- Now, far be it from me to stifle creativity, but specifically addressing Mech Warfare 2010 -

As has been noted incalculable times (and I was a math major... and I have a really nice calculator... You'd be amazed at the things I can calculate...): this is a "shoot the target on the target-bearing mech" event, not a "squeeze the other mech to death, and/or bore spectators to death by turning it into 'humanoid-kung-fu-part-du'" It's not about squeezing, punching, grinding, sawing, blowing up, torching, squishing, flipping, twisting, bashing, folding, spindling, and/or otherwise mutilating the other 'bot... That's all well covered in other events.

Let's just put it this way: whatever someone is thinking of doing or thinking of worrying about that doesn't involve shooting the freakin' plastic target on the opposing target-bearing robot - stop. Just stop. Seriously. I'm not sure how many different ways the organizers, plank holders, and banner-bearers can say "no", but there's gotta be some finite limit at some point, right? Just two letters in sequence alphabetically, you'd think they'd be easier to remember... "No." [pant pant pant]


How To Win At Mechwarfare: 20 Simple Steps

1. Assemble a true walking 'bot that can handle the payload
2. Teach it to walk
3. Teach it to walk untethered
4. Refine the walking
5. Integrate the camera and scoring system
6. Teach it to walk again
7. Teach it to walk untethered again
8. Increase the capacity of your batteries
9. Teach it to walk again
10. Teach it to walk untethered again
11. Add a turret and gun(s) - lighter the better
12. Teach it to shoot with some accuracy
13. Teach it to shoot with some accuracy untethered
14. Teach it to walk again
15. Teach it to walk untethered again
16. The night before/day of the event when it all blows up, start at step 1.
17. Discover that your wireless system doesn't work for squat in the noisy RF environment. Tweak and Tune all day.
18. Finally get everything working the last day/couple matches
19. Burn up a servo (or three)
20. Rinse/Lather/Repeat

*** Please note how the only thing that got squeezed, punched, ground, sawn, blow'd-up, torched, squished, flipped, twisted, bashed, folded, spindled, and/or otherwise mutilated was your brain and/or patience [and/or wallet]. Now we can derive the REAL point to the event. It's there to mutilate your brain. Tricky little event organizers!

[pant pant pant]

Ok - I'm done.

[/END RANT]

DresnerRobotics
09-21-2009, 04:09 PM
Yeah it is worth saying that Giger was built with more than just Mech Warfare in mind, I likely wouldn't even use this type of hand for the competition. It's more of a practice in design and engineering.

CogswellCogs
09-21-2009, 04:12 PM
Those fingers sure look like double pitch roller chain. It would save you a lot of programming and machining time. Roller chain is pertty heavy, however, and it may not be something you want at the end of a chain of servos.

Adrenalynn
09-21-2009, 04:14 PM
But plastic or nylon roller chain (such as that from Small Parts) is light weight, flexible, strong, and easy to work with. :)

DresnerRobotics
09-21-2009, 04:24 PM
Yup, I said that in the beginning of my first 'hand' post. I had originally thought of using the steel roller chain we used to stock here, but 'Lynn directed me towards some neat nylon stuff. Again, the inventor model is more of a proof of concept/theoretical model to help me visualize what I'm working towards.

Adrenalynn
09-21-2009, 04:29 PM
And a darned fine bit of virtual scale modeling it is, imho.

CogswellCogs
09-21-2009, 05:03 PM
Yes, I saw the roller chain reference in your post, that's what I was referring to.

The plastic stuff is cute, but I think it's way too small for Giger. It looks like it only comes in #25 (.25" pitch). That would make each finger in your drawing 3/4" long.

Adrenalynn
09-21-2009, 05:08 PM
If we scale it against my index fingers, that puts it a few tenths of an inch short to my body scale. Against my pinkies, a couple tenths long. Sounds about right, doesn't it?

DresnerRobotics
09-21-2009, 05:12 PM
Yes, I saw the roller chain reference in your post, that's what I was referring to.

The plastic stuff is cute, but I think it's way too small for Giger. It looks like it only comes in #25 (.25" pitch). That would make each finger in your drawing 3/4" long.

I'm not against using 4 segments for a finger either, I'll play around with it and see how it goes.

CogswellCogs
09-21-2009, 05:24 PM
If we scale it against my index fingers, that puts it a few tenths of an inch short to my body scale. Against my pinkies, a couple tenths long. Sounds about right, doesn't it?

I'm not sure that scale is the point, here. Do you want to pick up real world objects ? 3/4" fingers will be limiting in that respect. Plus, Giger's original gripper was much larger than that. I figured that was Tyb's preference.

sam
09-21-2009, 06:14 PM
Looks very nice tybs!

Sam

DresnerRobotics
09-30-2009, 03:41 PM
We were doing a photoshoot to demonstrate some of the brackets and RX servos... so I had our intern shoot a bunch of candids for me. These have no color correction or cleanup, but I liked them anyway, and I realized I didn't have any solid photos of this project as I've had with past ones... so here ya go, full high res pics can be found in my gallery. (http://forums.trossenrobotics.com/gallery/browseimages.php?c=3&userid=1492)

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01534a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01540a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01531a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01548a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01549a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01557a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01545a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01568a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01566a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01574a.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dsc01575a.jpg

darkback2
09-30-2009, 04:02 PM
Sweet! Can't wait to see it move!

mannyr7
09-30-2009, 05:34 PM
Sweet! Can't wait to see it move!

Same here! Truly menacing.

sam
09-30-2009, 05:35 PM
Looks sweeet tyb!

It's truly awesome!

I can't wait to see it move too!

Bullit
09-30-2009, 09:21 PM
Beastly!

Adrenalynn
09-30-2009, 11:29 PM
I'll D/L some of the high-res shots later and clean up 'em a bit for ya.

He does look awesome, though. Especially like this: :D

http://www.jlrdesigns.com/tyb-mech-1.jpg

Zenta
10-01-2009, 03:14 AM
Good job on the picture Adrenalynn. I do felt the WB was a bit off in the original pictures. I think a top grade robot deserve top pro pics too..;)

BTW: Awesome work on the robot Tyberius!

-Zenta

Adrenalynn
10-01-2009, 04:19 AM
Thanks for the kind words, Zenta! It's frustratingly tough to extract some really great photo from a low quality jpeg. Takes a lot of time, especially when you've got shiny aluminum parts running rampant. :)

http://www.jlrdesigns.com/claw1.jpg

JadeKnight
10-01-2009, 11:36 AM
Looking awesome Tyberius!

I see you put the LiPo batteries in the feet. Pretty ingenious! That should help lower the center of gravity, and reduce the overall strain on the hip/leg/ankle servos, right?

DresnerRobotics
10-01-2009, 11:41 AM
Looking awesome Tyberius!

I see you put the LiPo batteries in the feet. Pretty ingenious! That should help lower the center of gravity, and reduce the overall strain on the hip/leg/ankle servos, right?

It's more about keeping the robot's weight equally distributed. If you didn't have much weight in the upper torso, it would probably be more ideal to put the batteries in the torso. In Giger's case, the arms + upper torso weigh a decent amount (2.5 lbs or so) so putting the batteries in the feet keeps him from getting too top heavy.

That said, having them in the feet helps considerably for 'natural' balance in bipeds that use shuffle style gaits. I've recently rethought my opinions on shuffle gaits; they don't necessarily mean the robot is dragging it's feet, more that it just has a very low clearance upon picking up each foot. This makes a lot of sense, because it allows for quicker movement without offsetting COG much.

LinuxGuy
10-01-2009, 12:03 PM
Hey Tyb!

Do you have dimensioned drawings or such for any of the Robotis brackets? I'd like to design a bracket that can link the SES with the Robotis brackets/servos. I'm also working on brackets for a new 4WD rover that I think will work great as well as have a high coolness factor. :)

8-Dale

Adrenalynn
10-01-2009, 12:24 PM
The SES line-up with the Robotis generally.

LinuxGuy
10-01-2009, 12:43 PM
The SES line-up with the Robotis generally.
That may be true for practical assembly, but it does not generally work well with CAD. I'd like to do some designs that use both SES and Robotis stuff, and it would be nice to have one or two dedicated SES to Robotis brackets.

8-Dale

lnxfergy
10-01-2009, 12:48 PM
That may be true for practical assembly, but it does not generally work well with CAD. I'd like to do some designs that use both SES and Robotis stuff, and it would be nice to have one or two dedicated SES to Robotis brackets.

8-Dale

Thats where you get creative with your constraints. The 4-hole bolt pattern has a center point, most parametric modeling programs allow you to define a work axis, constrain the 2 work axis to mate, mate the faces, and put an angle constraint on a flat side of each bracket, bam, you've overcome any small offset in the actual hole positions.

-Fergs

LinuxGuy
10-01-2009, 02:05 PM
Thats where you get creative with your constraints. The 4-hole bolt pattern has a center point, most parametric modeling programs allow you to define a work axis, constrain the 2 work axis to mate, mate the faces, and put an angle constraint on a flat side of each bracket, bam, you've overcome any small offset in the actual hole positions.
I understand this, but I first have to have 3D models of the Robotis brackets and servos to work with. :happy: I want to design one or more custom brackets for various ideas I have.

8-Dale

DresnerRobotics
10-01-2009, 02:08 PM
All of the brackets I made for Hagetaka are in our Data Center available for download as DXF/.IPT files. There are some more custom ones for Giger that I haven't gotten around to publishing yet though. The ones in the Data Center should get you started, but don't laugh at me if they're a bit messy, I was learning Inventor as I built them.

DresnerRobotics
10-02-2009, 12:03 AM
VERY rough walking gait, but I promised to deliver some video. It still needs a lot of optimization; bezier curves aren't adjusted at all, speed needs to be adjusted, and arm swing needs to be integrated. It's very rough, very jerky right now, this is just the first stable gait revision, current revision isnt completely stable and thus not shown.

YouTube - Giger Walking

gdubb2
10-02-2009, 10:10 AM
Looking great Tybes..

Gary

sam
10-02-2009, 11:24 AM
but I promised to deliver some video.


:) And you did!

It's really cool looking at it move, it's BIG! The metal brackets make it really nice 'n shiny.:robotsurprised:

robokoi
10-03-2009, 01:23 PM
Very nice looking bot. Are these movements setup as poses with transitions? what are you using for balance?

DresnerRobotics
10-03-2009, 02:50 PM
Very nice looking bot. Are these movements setup as poses with transitions? what are you using for balance?

Yeah the motions are pose based with interpolation via S and Bezier curve, which are fully adjustable via the interface. I'm using an ADIS16355 (http://search.digikey.com/scripts/DkSearch/dksus.dll?Cat=1967155&k=ADIS16355) for balance, though it's not fully implemented as of yet.

SystemDefect
10-07-2009, 11:22 AM
Very Nice, it would look so cool with a Cylon eye :) Sucks they canceled Battlerstar after 4 seasons. I loved that show

DresnerRobotics
10-07-2009, 01:21 PM
Very Nice, it would look so cool with a Cylon eye :) Sucks they canceled Battlerstar after 4 seasons. I loved that show

Funny you mention that, because I actually have a 'Cylon eye' circuit for him... but can't seem to find it.

Battlestar was perfect at 4 seasons imo :P

Bullit
10-07-2009, 03:22 PM
Good news is that Caprica starts in January so BSG isn't dead we're just going to get a look at 50 years before the fall.

Great work Tybs!

SystemDefect
10-07-2009, 04:51 PM
You are right about them not dragging the show on for profit like so many others on TV but at the same time it left a few unanswered questions.

DresnerRobotics
10-21-2009, 03:14 PM
Speaking of Cylons...

YouTube - Giger - Progress Video

ooops
10-21-2009, 03:22 PM
An invasion!!! The Cylons are here!!!
That looks absolutely amazing!

rebel
10-21-2009, 10:41 PM
Looks like ginger is coming along very nicely. :p

mannyr7
10-21-2009, 11:04 PM
Looks like ginger is coming along very nicely. :p

MaryAnne was always my favorite! ;) Congrats Tybs!

Adam
10-29-2009, 10:51 AM
Holy crap, that's an awesome build! You really designed and machined all those custom parts yourself? Amazing.

Would you mind describing your battery specs, what each is powering, and what run times you expect to get?

Is the head just for aesthetics? It looks like the camera is in the chest.

Adrenalynn
11-05-2009, 02:27 PM
Congrats, I think, on making Engadget (http://www.engadget.com/2009/11/04/diy-giger-robot-walks-after-100-hours-of-human-work/).

DresnerRobotics
11-05-2009, 02:29 PM
Holy crap, that's an awesome build! You really designed and machined all those custom parts yourself? Amazing.

Would you mind describing your battery specs, what each is powering, and what run times you expect to get?

Is the head just for aesthetics? It looks like the camera is in the chest.


Yup, everything designed in an inventor and machined either via Big Blue Saw (http://www.bigbluesaw.com) or inhouse on my Sherline Mill.

Batteries are a pair of 4S LiPo 1900mAh packs in the feet. I get about 30 minutes of active run time, he can stand and look around powered up for about 2 hours though.

Head houses the IMU, and the uber-cool tinyCylon (http://www.dalewheat.com) circuit.


Thanks 'Lynn!

Adam
11-05-2009, 05:04 PM
Batteries are a pair of 4S LiPo 1900mAh packs in the feet. I get about 30 minutes of active run time, he can stand and look around powered up for about 2 hours though.


Thanks for the info. I would have expected a higher current draw. That's great, encouraging in fact. I have a 3s 5000mah pack on the way for my AX-12 project. It sounds like mine should run for at least an hour! :D

Really killer looking robot.

DresnerRobotics
11-05-2009, 05:32 PM
Thanks for the info. I would have expected a higher current draw. That's great, encouraging in fact. I have a 3s 5000mah pack on the way for my AX-12 project. It sounds like mine should run for at least an hour! :D

Really killer looking robot.

Is that a biped? Might run into issues carrying that large of a pack on a biped with AX-12s, in fact it may defeat the purpose of having a larger battery if the current draw spikes.

lnxfergy
11-05-2009, 07:05 PM
Is that a biped? Might run into issues carrying that large of a pack on a biped with AX-12s, in fact it may defeat the purpose of having a larger battery if the current draw spikes.

Just for reference, 3DOF Issy, without mech gear, got about 45 minutes off an 11.1V 2000mAh battery, pretty much moving all the time.

-Fergs

Adam
11-05-2009, 08:41 PM
Is that a biped? Might run into issues carrying that large of a pack on a biped with AX-12s, in fact it may defeat the purpose of having a larger battery if the current draw spikes.

I'm actually working on a hexapod. Long run times are important to me since it's primary mode will be autonomous. I chose a hexapod for the payload. I plan to load it up pretty good.

But thanks for the comment. I'll stop hijacking your thread now... :veryhappy:


Just for reference, 3DOF Issy, without mech gear, got about 45 minutes off an 11.1V 2000mAh battery, pretty much moving all the time.

-Fergs

That's impressive. The AX-12 doesn't seem to draw much current considering how powerful it is.

Nishi
01-09-2010, 11:31 AM
Really really beautiful work. +rep

Psykoman
02-02-2010, 05:07 PM
Awesome project.
Are ypu planing to make a version of Giger for the AX-12 Servos?

DresnerRobotics
02-03-2010, 10:10 AM
Awesome project.
Are ypu planing to make a version of Giger for the AX-12 Servos?


Funny you mention that; I actually have already started the process of scaling down all of the brackets to build an AX-12 based Mini-Giger. :)

rebel
02-03-2010, 10:50 AM
That would be cool, but I like the awsomeness of giger :p

darkback2
02-03-2010, 12:14 PM
Now if only we could do something about the 10k price tag!

DresnerRobotics
02-03-2010, 12:32 PM
Actually, I'm working on a few upgrades currently on Giger, might as well post an update as I haven't in quite some while.

ADIS 16355 6 axis IMU (http://parts.digikey.com/1/parts/1396707-board-eval-adis16355-adis16355-pcbz.html) has been installed in the head, working on integration of the balance feedback into the walking gait.

Batteries are getting upgraded to these: http://www.rctoys.com/rc-products/TP-2000-5SPL.html This will give me a 10-15% increase in torque as well as about 400mAh more capacity.

Using an Anyvolt3 (http://dimensionengineering.com/AnyVolt3.htm) from Dimension Engineering to step down the voltage for the RX-28s.

Machining new brackets for the elbow, shoulders, and grippers which will be 45 degree angle style brackets to allow for more range of motion (and extend the arms a little). I'm also extending out the biceps and forearms using standoffs to increase the arm length a bit, they're a tad too short currently and it makes getting up/down hard.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/shoulderbracket.jpg


Also have the gun mounts about finalized. These will be more than mounts, they actually extend the length of the gun and transfer any impact or weight distribution (if I fall or need to get up) to the arm itself, rather than put weight/impact on the gun.

4mem8
02-04-2010, 12:12 AM
Very nice Andrew, always a pleasure seeing what u come up with and your innovation in humanoid robots . keep up the good work.

Psykoman
02-07-2010, 06:43 AM
Hi Andrew,

do you have an idea how tall the Ax-12 Version of Giger will be?

kamondelious
02-07-2010, 10:58 AM
This is really some inspiring work.

How tall is Giger now? What does he tip the scale at?

:D

DresnerRobotics
02-08-2010, 01:17 PM
AX-12 version of Giger will probably only be about 14" tall, not much bigger than the standard Bioloid Humanoid.

Giger is currently 24" tall, weighs in at roughly 10lbs. He's about to get a bit taller, a little lighter, and a LOT stronger though.... :)

rebel
02-08-2010, 01:27 PM
Can not wait to see how it turns out after new mods :p

DresnerRobotics
02-12-2010, 12:50 PM
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/ex-106.jpg


/whistles

Updated brackets inc next week...

billyzelsnack
02-12-2010, 02:28 PM
Omg. Omg.

billyzelsnack
02-12-2010, 02:28 PM
If you're looking to sell some RX-64's...

DresnerRobotics
02-12-2010, 02:44 PM
If you're looking to sell some RX-64's...

Sorry, have plans for those already. I think I need to get in on this quadruped action. :D

4mem8
02-12-2010, 02:54 PM
Damn, I need to win lotto before i see merchandise like that Andrew. Omg they look nice. drool.:eek:

SN96
02-12-2010, 04:06 PM
Very cool humanoid. I have a few questions regarding the brains. What controller are you using and what language does it use? Also, why do you have the feet "kick" in an orbital fashion when taking steps? Can you smooth it out or is it part of keeping the bot stable? Is the walking static or dynamically balancing?

Sorry for the string of questions J
________
Suzuki TL1000R (http://www.cyclechaos.com/wiki/Suzuki_TL1000R)

DresnerRobotics
02-12-2010, 04:45 PM
Very cool humanoid. I have a few questions regarding the brains. What controller are you using and what language does it use? Also, why do you have the feet "kick" in an orbital fashion when taking steps? Can you smooth it out or is it part of keeping the bot stable? Is the walking static or dynamically balancing?

Sorry for the string of questions J

400mhz Gumstix Verdex Pro, its all programmed on an embedded linux build in C. Was a system developed by Farrell Robotics.

The kick I was using there was to overcome the servo backlash/lack of torque so that the feet wouldn't drag at all. So, I was accelerating quickly and then did not slow them down in a controlled fashion. The walking gait you saw in the video was also my very first revision, it has been smoothed out considerably since.

Walking is static at this point, though dynamic balancing via IMU feedback is current in the works.

elios
02-12-2010, 04:50 PM
more video please :P this is awesome! cant get enough of it :)

DresnerRobotics
02-14-2010, 03:41 PM
Updated the 3D model with new EX-106+ custom brackets & servo models, as well as extended arms. Brackets will be ready next week. :)

billyzelsnack
02-14-2010, 03:54 PM
Are they all now EX-106's?

DresnerRobotics
02-14-2010, 05:01 PM
Bottom 10 servos in the legs are ex-106+.

Hip rotation, waist, and shoulders have 6 RX-64s.

Arms have 8 rx-28s.

Zenta
02-15-2010, 04:52 AM
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/ex-106.jpg



:robotsurprised::eek:

Is this legal? Posting porn on the forum like that...

... I wish that was my desk.

Thanks for sharing though.;)

-Zenta

SN96
02-15-2010, 02:51 PM
Showoff...
________
volcano vaporizer classic (http://vaporizers.net/volcano-vaporizer)

Chris11
02-16-2010, 06:20 AM
WOW!
That is the coolest looking robot i've ever seen!!!
Nice job :)

DresnerRobotics
02-17-2010, 05:47 PM
My 'tinkering desk' currently :D

Bullit
02-17-2010, 08:49 PM
OMG! What's happened to Giger!
He's been parted.

DresnerRobotics
02-19-2010, 09:59 PM
So I'm waiting on new brackets to show up from a new machine shop I've tasked to build my latest EX-106 brackets. I have a CNC machine in-house, but I'm running out of time and I'm not confident enough to make large radius bends on my brake, so I'm taking the easy/lazy route.

Brackets show up monday, in the mean time I'm working on a functional hand prototype for Giger. I modeled some stuff up in Inventor and took a shot at it, check it out! Sorry for the low-qual pictures, was just snapping them real quick on my iPhone. I'm going to be running cables down the inside of the fingers and back to a hinge bracket mounted to an RX-28 in the fore-arm, so the hand will have open/close capabilities.

MikeG
02-19-2010, 10:38 PM
That hand kicks @ss...

4mem8
02-20-2010, 01:27 AM
Omg sweet, sweet, sweet, Andrew. Remind me to send in a covert op team to steal it, oops did i say that.

Quantum
02-20-2010, 03:35 AM
All it needs now is a set of brass knuckles.

Nice work!

rebel
02-20-2010, 10:18 AM
Man, that think is gonna be amazing

Psykoman
02-21-2010, 09:27 AM
The hand is awesome. Can't wait to see it work.

Obscene
02-21-2010, 10:36 AM
Will it be controlled by a single servo? I can think of a few things to work the hand, but I'm just at a loss imaginatively as to how it might function. I'd imagine it would be difficult to give the fingers individual movement, but it would be pretty badass if they did.

Looks great - the whole thing is an amazing process and I'm sure an even better outcome.

DresnerRobotics
02-21-2010, 10:46 AM
Will it be controlled by a single servo? I can think of a few things to work the hand, but I'm just at a loss imaginatively as to how it might function. I'd imagine it would be difficult to give the fingers individual movement, but it would be pretty badass if they did.

Looks great - the whole thing is an amazing process and I'm sure an even better outcome.

Yar, single servo with a hinge bracket on it will push/pull 5 zip ties running down the center of the fingers. Pretty simple, yet effective.

ooops
02-22-2010, 11:13 AM
Yar, single servo with a hinge bracket on it will push/pull 5 zip ties running down the center of the fingers. Pretty simple, yet effective.


I am looking forward to the "how to flip a bird with a single servo" tutorial!!!

Amazing stuff Andrew!!!

DresnerRobotics
02-22-2010, 01:28 PM
Thanks guys! Batch of custom EX-106 & RX-28 brackets just arrived from Rapid Sheet Metal (http://www.rapidsheetmetal.com). Quality is absolutely insane on these; beautiful finish, smooth edges, and ridiculously accurate tolerances on all the bends.... and delivered to my door 5 business days from placing my order. On top of it their customer service was outstanding, definitely using these guys again.

TOhm
02-22-2010, 02:31 PM
Great Looking Brackets! What's the approximate charge per bracket through Rapid Sheet Metal? May have to go this route in order to finish before Robogames.

jes1510
02-22-2010, 03:21 PM
Wow those are gorgeous!

DresnerRobotics
02-22-2010, 03:28 PM
Great Looking Brackets! What's the approximate charge per bracket through Rapid Sheet Metal? May have to go this route in order to finish before Robogames.

You got a PM :)

DresnerRobotics
02-23-2010, 10:46 PM
Got some progress made...

Brand new legs, all new brackets/EX-106+ servos. Arms redesigned with new brackets and extensions as well.

Connor
02-23-2010, 11:14 PM
Oh my god, they killed Giger!

Okay, Lame South park refrence.. couldn't help it.

rebel
02-24-2010, 10:06 AM
Holy crapzilla!!!!!

Psykoman
02-24-2010, 12:04 PM
Awesome. Can't wait to see it walking.

DresnerRobotics
02-28-2010, 10:44 PM
This is about 2 hours of work after final configuration as a result of the new upgrades. All 10 main leg servos have been upgraded to EX-106+ Dynamixels, so my previous walking gait progress was entirely erased. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were (of course) designed in Autodesk Inventor 2008 and machined by the awesome guys at Rapid Sheet Metal! (http://www.rapidsheetmetal.com)

Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, then it can be sped up to a more realistic, useful speed.


http://www.youtube.com/watch?v=jYDPrD4Njko

Zenta
03-01-2010, 12:44 AM
Thats more like it! Excellent work on everything. Looks like the new servos are doing a decent job.

Can't wait to see more walking and movement! Do you use any form for kinematics/calculations in the gait part?

DresnerRobotics
03-01-2010, 01:00 AM
Right now its all just FK, albeit 'advanced' FK.

Using bezier curve interpolation between poses and taking full advantage of the positional capture feedback as well as temperature monitoring to create efficient stances.

I'm going for a smooth, deliberate gait on Giger rather than a quick shuffle that is common in a lot of bipeds. I'll continue to find tune the balance and pose interpolation and then start bumping up the speed of it. Also on my list is to fully implement balance feedback via IMU.

IK will likely come much later once I've learned more about the type of gait I'm aiming for (and more about IK in 6 DOF per leg humanoids)

Zenta
03-01-2010, 01:40 AM
I'm going for a smooth, deliberate gait on Giger rather than a quick shuffle that is common in a lot of bipeds. I'll continue to find tune the balance and pose interpolation and then start bumping up the speed of it. Also on my list is to fully implement balance feedback via IMU.
The quick shuffel used by many combat bipeds seem to work effective but its far from elegant and smooth. So I couldn't agree more when your aiming for a more smooth and elegant movement.



IK will likely come much later once I've learned more about the type of gait I'm aiming for (and more about IK in 6 DOF per leg humanoids)
Sounds interesting I can't say I've seen many "hobby robots" fully IK controlled yet. But then again, I'm not sure if your Giger qualify under the common hobby robotics category ;)

DresnerRobotics
03-15-2010, 07:27 PM
Just a few pictures of the new upgrades, shows em off a bit better.

Psykoman
03-16-2010, 07:55 AM
Nice work. Giger kicks ass..

Adam
03-16-2010, 09:42 PM
Those scratched-up handles are detracting a bit from the overall awesomeness. Some shiny new brushed aluminum handles would do the trick.

DresnerRobotics
03-16-2010, 09:52 PM
Those scratched-up handles are detracting a bit from the overall awesomeness. Some shiny new brushed aluminum handles would do the trick.

It's battle-damaged! :p

I've been meaning to replace them... but they're a massive pita to replace.

DresnerRobotics
04-18-2010, 08:25 PM
Walking gait is slightly faster than the first video, still have some work to do on it before the competition. Pretty much all good to go, just need to secure my target panels with velcro and spend the rest of my time working on the gait and aiming.

YouTube- Giger - Ready for Mech Warfare 2010!

RobotAtlas
04-18-2010, 11:00 PM
I think they didn't get it right.
It wasn't Skynet that created Terminators. It was Trossen Robotics.
Tybe, you are not thinking about naming the next model T-001, are you? :)

Zenta
04-19-2010, 12:55 AM
Thumbs up Tyberius! Thats just awesome!
Great work with the gait part too. The flexible torso just make it perfect.

A little question, was the increased resolution on the EX-106 noticable and did it help for more accurate movement?

-Zenta

darkback2
04-19-2010, 08:05 AM
This screams harness controller. You totally need a harness controller where you can move your arms around to aim, and have a first person POV on a head mounted display. You could use a joystick at the end of the right or left...but I'm thinking right arm control that would designate where you walk...and us IK to automate the balancing stuff...

Just a thought...Oh...and Really nice work.

DB

tom_chang79
05-02-2010, 10:38 PM
I've been out of the scene for a while and I missed the robogames 2010 again (due to work :genmad:), but I just youtubed the mech warfare 2010 at the robogames.

I'm just quite shocked at Tyb's Giger... It is so much more mature than the last time I saw it (which was about a year ago).

Wow, that thing is truly scary.... Nice work Tyb, and please post more vids if you got any!

Regarding the controller, I think if you were to make a wi-fi console that can take a 104 key keyboard and a joystick, that would make the controls quite complete... At least that's how I used to play Mechwarrior with :D

I'm sure most of you guys are controlling your bots through a laptop?

DresnerRobotics
05-02-2010, 11:01 PM
I've been out of the scene for a while and I missed the robogames 2010 again (due to work :genmad:), but I just youtubed the mech warfare 2010 at the robogames.

I'm just quite shocked at Tyb's Giger... It is so much more mature than the last time I saw it (which was about a year ago).

Wow, that thing is truly scary.... Nice work Tyb, and please post more vids if you got any!

Regarding the controller, I think if you were to make a wi-fi console that can take a 104 key keyboard and a joystick, that would make the controls quite complete... At least that's how I used to play Mechwarrior with :D

I'm sure most of you guys are controlling your bots through a laptop?

Thanks Tom! I actually use a Gumstix Verdex Pro running linux and a bluetooth link to a PS3 computer, so no laptop involved for me. Laptop is just used for video feed and logging into the linux console on the robot.

Here's what I'm doing with the robot currently:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/img_0664.jpg

Kung Fu variant in preparation for the Korean Robot Games Festival. Shaved 1.5kg off of him from his Mech Warfare variant.

DresnerRobotics
05-05-2010, 01:25 AM
YouTube- Giger Fu

Some progress in prep for the KRGF!

Psykoman
05-05-2010, 02:58 AM
Looks cool. Awesome work. Have fun in Korea.

mannyr7
05-05-2010, 11:24 AM
Needs an antenna ball head, I think. Excellent progress, and good luck in Korea!

DresnerRobotics
05-05-2010, 05:43 PM
Needs an antenna ball head, I think. Excellent progress, and good luck in Korea!

I like the headless look, reminds me of Robot Jox :D

Obscene
05-06-2010, 01:35 PM
I see some sort of black hex crawler in the background in that image. There wouldn't be RX-64's in that thing, would there?

Giger looks fit for Kung Fu. Keep up the good work!

DresnerRobotics
05-06-2010, 01:48 PM
I see some sort of black hex crawler in the background in that image. There wouldn't be RX-64's in that thing, would there?

Giger looks fit for Kung Fu. Keep up the good work!

That particular hexapod, no. More info on that later. :)

Hexapod in question was also spotted near the Mech Warfare booth at Robogames, though I wasn't driving it at the time.

YouTube- RUG Community - Robogames 2010 - Day 3 - Mechs - Crab Walking

Chench
05-06-2010, 04:38 PM
Is that the same hex that was carrying a video camera in the botjunkie video? i'd love to see some robot's eye footage of the action.

DresnerRobotics
05-06-2010, 06:50 PM
Is that the same hex that was carrying a video camera in the botjunkie video? i'd love to see some robot's eye footage of the action.

Yessir, that's the same hex. We have all of that footage + much more being edited into a promo video as we speak.

Stobs
05-06-2010, 07:49 PM
very cool :) when you were taking Friday's footage it reminded me of shots you'd get from the XFL :D Giger's looking good - hope all goes well in Korea!

tom_chang79
05-06-2010, 10:49 PM
Good luck in Korea! Your Giger is an excellent candidate to represent the good ole US of A!

Chench
05-07-2010, 06:42 AM
Cool, looking forward to that!

DresnerRobotics
05-08-2010, 12:17 PM
More progress... getup sequence at the end.

YouTube- Giger Fu, Take 2!

darkback2
05-08-2010, 01:27 PM
Sweet work.

Are you at all concerned about the servo wires looping around his back? any plans for those?

I really like the sword fighting moves. and can he attack behind himself? looked like it for a second but I'm not sure if that was just perspective.

Also I really like your arm design. Your making really good use of each DOF combined with the different lengths. especially during your get up sequence.

DB

DresnerRobotics
05-08-2010, 03:05 PM
Sweet work.

Are you at all concerned about the servo wires looping around his back? any plans for those?

I really like the sword fighting moves. and can he attack behind himself? looked like it for a second but I'm not sure if that was just perspective.

Also I really like your arm design. Your making really good use of each DOF combined with the different lengths. especially during your get up sequence.

DB

Thanks! Wire management is next on my agenda. He has the ability to torso twist 300 degrees, so attacking behind isn't too hard.

Adam
05-10-2010, 09:27 PM
Tyberius, I have a question about the airsoft guns if you don't mind. What are you using? Is the hopper in the scope?

I've been experimenting with a couple of them, but I am having an issue coming up with an elegant hopper solution. One of those guns, or something similar, could be the ticket.

DresnerRobotics
06-06-2010, 07:24 PM
Here are some cads of the Initial draft of Giger v4.0 using PLM...still has a lot of work to do. Upper torso needs a ton of work, it's probably getting rebuilt entirely and resized to be a bit more proportional. Still not happy with arms/hand proportions. This build of Giger uses a total of 12 EX-106+ and 12 RX-64. Currently, it stands roughly 71cm (28") tall.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerrender_original.jpg

billyzelsnack
06-06-2010, 07:58 PM
Make sure and wear chain-mail gloves when operating! Chop chop.

DresnerRobotics
06-06-2010, 08:04 PM
Make sure and wear chain-mail gloves when operating! Chop chop.

Quoted for truth. Never before have I been this scared of a design; I could very well lose fingers if something were to go wrong.

Obscene
06-07-2010, 12:48 AM
Yeah, that would be like sticking your hand in a blender.

RobotAtlas
06-13-2010, 06:54 PM
It would be nice to incorporate a turn off switched based on the recognition of a human scream.
Although it moves so fast, you would not have time to scream, would you?

I do seriously think safety is will be one of the biggest issues with these things.
Robots already don't have such a great reputation...

Spartan001
06-15-2010, 08:27 PM
What Software Do you recommend for Robot design?

Adam
06-15-2010, 09:04 PM
Andrew uses Autodesk Inventor. I'm starting to play around with it myself. I used eMachineShop to get my feet wet in CAD. It's very easy to use. If you're new to CAD, you will not hit the ground running with Inventor.

DresnerRobotics
06-18-2010, 10:12 AM
Andrew uses Autodesk Inventor. I'm starting to play around with it myself. I used eMachineShop to get my feet wet in CAD. It's very easy to use. If you're new to CAD, you will not hit the ground running with Inventor.

I don't know about that, I had only taken a single CAD course in highschool and didn't remember much of it when I started using Inventor. The tutorials within Inventor are FANTASTIC, I just started with the Sheet Metal tutorial and went from there. I've only been using it for about 18 months now, and am confident I could model just about anything at this point.

That said, it's also a very expensive piece of software. Saving grace is that you can get 13 month renewable student licenses with a .edu email address.

Obscene
06-19-2010, 12:20 PM
I just realized how ridiculous that robot is. You're going to be breaking the other guys bots, you know that, right? It'd be funny if you dressed it up like a toddler, and called it "The Pacifier"

gdubb2
06-19-2010, 12:39 PM
Heh.. The bigger they are.. the farther they fall... Bwaaahaahaaa

Bullit
06-19-2010, 07:13 PM
I think its more like the bigger they are... the smaller the arena becomes. :)

DresnerRobotics
06-22-2010, 12:06 PM
Some pictures of Giger Fu before I start tearing him down for his next revision rebuild.

Just asking
06-27-2010, 01:54 PM
Just wondering, Did you use an Arbotix Robocontroller connected to an RX Arbotix Bridge for Giger?
:veryhappy:

And what program language do you use?

DresnerRobotics
06-27-2010, 03:59 PM
Not yet, at this time I'm using a Gumstix Verdex Pro which runs embedded Linux and the program itself is written in C.

Eventually Giger will get moved over to something like a FitPC2 + arbotix setup though.

Just asking
06-27-2010, 06:53 PM
Not yet, at this time I'm using a Gumstix Verdex Pro which runs embedded Linux and the program itself is written in C.

Eventually Giger will get moved over to something like a FitPC2 + arbotix setup though.


How were you able to control Dynamixel actuators using a Gumstix Verdex Pro?

I want to try this out myself. :happy:

DresnerRobotics
06-27-2010, 08:22 PM
I'd highly recommend starting out with something a bit simpler. The gumstix solution I use was created by someone much brighter than I, I am just using their controller solution.

The ArbotiX is a pretty solid solution for people just starting out.

Just asking
06-27-2010, 08:24 PM
What programs can you use on an arbotix robocontroller besides Pypose and Bioloid programs?

I also have problems installing firearms.

DresnerRobotics
07-02-2010, 04:13 PM
The ArbotiX is programmed in Arduino-C, Pypose is just a python program that helps generate Arduino-C sketches.

DresnerRobotics
07-02-2010, 04:15 PM
I've put in a LOT of Inventor time recently. This is a ground up complete redesign from my previous revision, not a single part aside from some bearings and the servos will be re-used. So, I took this as a good time to get the entire robot's frame anodized black.

Here is my finalized model of Giger 4.0, using 14 EX-106+ and 10 RX-64. Stands about 75cm tall.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerv4-2_862236_original.jpg

Adam
07-02-2010, 04:32 PM
Are you going for a gripper like the ones on the GP? That's kinda what it looks like, minus the extra actuator and bracket.

Stobs
07-02-2010, 04:32 PM
That definitely looks sweet Ty! Are you fabricating all of your connectors/frame work? I'm deciding whether to get Inventor Suite LT in a couple of months or wait at least nine months until I can afford the full blown package - but if I do the later I'll pretty much have to skip RG'11 for budgetary reasons. I'll be looking into any possible upgrade paths, and if A) one/they exist and 2) there's a minimal price differential between full blown now or getting the LT package now and then the full upgrade later, I'll go the LT route and whatever tank-bot I can build with my remaining budget. I haven't used it in about seven or eight years but I had been a really proficient user of AutoCAD LT (either '95 or '98 & then a trial version of 200x), so I'm confident I can put it to use nearly right out of the box.

DresnerRobotics
07-02-2010, 04:48 PM
The claws were a bit GP inspired, I drew em up when I got back from Korea. I'll likely have 5 digit hands as an alternative too, but these are going to be what I'll use for kung fu.

Stobs- a lot of this stuff is too big for my CNC at this point, so I'll likely have it outsourced to a local machine shop.

Here's a nice size comparison of Giger 1.0 vs Giger 4.0:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerv4-v2_original.jpg

jes1510
07-02-2010, 04:52 PM
You should rename him to "The Amputator" and give him a voice with an Austrian accent.

DresnerRobotics
07-02-2010, 04:54 PM
You should rename him to "The Amputator" and give him a voice with an Austrian accent.

Actually... I made a few changes to his leg design so that they don't close entirely unless I'm moving them past a normal range. He might pinch quite badly, but he won't quite amputate. This was partially due to just how the final leg design ended up, partially due to my fear of losing a finger.

Stobs
07-02-2010, 11:18 PM
lol ...i'd a done it mainly to keep my digits intact! :) ... Are you going to call the new bot "Giger2"?

RobotAtlas
07-04-2010, 06:18 PM
That leg design looks so much better now.

DresnerRobotics
07-05-2010, 09:25 PM
Now trying to play with how a head would look...

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerv4_original.png

darkback2
07-06-2010, 01:10 AM
Is all that space in the chest accounted for? cause if not you could drop the servo into the chest for a more compact design.

Also...the head looks sort of familiar?

DB

kamondelious
07-06-2010, 04:25 AM
Is all that space in the chest accounted for? cause if not you could drop the servo into the chest for a more compact design.

This was my first thought too, but I think proportionally this configuration makes sense. Also, he'd lose range of motion in the head tilt if the lower servo was in the chest. That or he'd have to rework how the tilt servo is positioned maybe something like what I did for Snoopy.( http://forums.trossenrobotics.com/picture.php?albumid=32&pictureid=437 ) Though I'd wager Tyberius' mad design skillz could come up with something way cooler.

;)

DresnerRobotics
07-06-2010, 10:08 AM
Is all that space in the chest accounted for? cause if not you could drop the servo into the chest for a more compact design.

Also...the head looks sort of familiar?

DB

Yeah, chest is a tight fit as is. I'm actually expanding it a bit to be more spacious, and to account for the installation of a fitPC2. 'More compact' doesn't mean proportional in this case, I specifically left the pan servo outside of the torso so that the head itself would be correctly sized, and the tilt servo would be elevated from the body enough to have full functionality. I'll have to tweak with the proportions a bit, but I think I'm pretty close to something that fits well.

80.5cm (< 32 inches) tall with the head and standing fully upright btw.

Just asking
07-13-2010, 12:52 AM
The head looks like an ultrasonic sensor for the a lego NXT kit.

elaughlin
07-27-2010, 07:49 PM
A little picture of Giger Fu made it into the newest edition of Robot Magazine. Good job Tyberius.

DresnerRobotics
07-27-2010, 09:47 PM
News to me! lol

anton
08-12-2010, 12:17 AM
Hi Tyberius,

We are getting 5 EX-106 servos so I was wondering what do you use to power them, would regular SMPS2Dynamixel Adapter (http://www.trossenrobotics.com/store/p/5886-SMPS2Dynamixel-Adapter.aspx) work or would we need something more beefy for the amount of current that these servos can consume?

Thanks!

DresnerRobotics
08-12-2010, 01:46 AM
That should be fine, those are pretty sturdily built.

DresnerRobotics
09-20-2010, 03:40 PM
Well, I thought Giger was retired, but looks like he's going to be pulled out for one last competition before I upgrade him to rev4. I'm attending International Robot Competition 2010 in Korea next month, so I'll be putting some more work into his kung fu variant as well as his fighting stances.

Just upgraded the arms to use RX-64s, I found the RX-28s were *barely* strong enough to pick himself up after a fall, and found some of the heavier bots I fought weren't being moved very easily by them.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfu2-2.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfu2.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfu2-3.jpg

elaughlin
09-21-2010, 07:43 AM
I wish you and Giger-Fu goodluck in the competition. Make sure to take more pictures/video of Giger in action. Plus if you bring back any other nice ideas from Korea, we all would like to see it.

darkback2
09-21-2010, 11:16 AM
Given the size of the upgrade going on why not just make a new version?

DresnerRobotics
09-21-2010, 11:31 AM
Given the size of the upgrade going on why not just make a new version?

Well the next big upgrade replaces every component except for servos.... isn't that a new version?

darkback2
09-21-2010, 11:36 AM
Ah...didn't know you were using the same servos. I was suggesting you keep giger alive and just build the next version from scratch...that way you could keep doing gigerfu and such and have a big research bot for serious work. :-p

DresnerRobotics
09-21-2010, 12:38 PM
Ah...didn't know you were using the same servos. I was suggesting you keep giger alive and just build the next version from scratch...that way you could keep doing gigerfu and such and have a big research bot for serious work. :-p

No, I don't quite have an additional 10 grand in servos handy to build another. :p

DresnerRobotics
10-07-2010, 02:23 AM
So I've been doing some thinking on which direction I want to go with Giger. I had a fiasco with a new machine shop I was going to try out, so I had time to make some changes. I wasn't really happy with Giger 4.0, so I started rethinking a few things.

Few things: I want to double up the ankle and hip roll servos, that every axis will be double ex-106+. Originally I was trying to get Giger a lot bigger, then after rebuilding him temporarily for Kung Fu I was leaning towards the opposite; get it as compact and powerful as possible. So I went to start playing with a more compact double-ex-106 PLM design tonight, and 4 hours later realized it was a pipe dream. Doubling up the ankles adds over 160mm of height any way I look at it, and I couldn't get a compact result I was satisfied with. So instead of fighting with the design any further, I just went with it, and ended up with Giger at close to 1m tall. Haha!

Here's the new current design, I'm much happier with the overall proportions and dimensions. The torso ended up looking quite a bit bulkier and longer with the new hips, which I actually prefer over the previous design. This is going to be a BIG bot, I measure it at 91cm tall and estimate the weight at about 12kg.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerv4_931785.jpg

For reference, here was the previous design:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerv4.png

RobotAtlas
10-07-2010, 02:37 PM
It looks great to me. Nao is strting to look like a plastic toy compared to Giger.
What's the reason for changing orientation of the hip roll servos from horizontal to vertical?

RobotAtlas
10-07-2010, 03:01 PM
I also don't see why you need double servos for the ankle roll.
I'm looking at what makes my (human) foot roll and I don't see too much torque there.
And it's not symmetrical with the hip roll either.

For hip, when I do splints, I need to lift my whole body, but if I roll my ankles too much, my feet just don't stay flat on the ground.

Unless you are going to attach your robot by the foot to the ground, it appears you will not be able to use all that torque in ankles.
But, then I remind myself of my lack of any experience with anything other than AX-12.
So please tell me where my thinking is wrong.

DresnerRobotics
10-07-2010, 07:53 PM
Few things, this robot doesn't walk like a human does, so what applies to you doesn't apply to it. There are very few humanoids out there that can emulate human walking, and while it's a goal of mine it's still many years off for me.

The decision to double up the ankle/hip roll servos wasn't one based upon torque needed, but rather the need to eliminate backlash from those joints. For all of the torque that the EX-106+ offers, it also has the highest amount of gear slop. This creates problems which are exaggerated with longer limbs and heavier payload, and while you can compensate for it with raw torque, it's a guessing game a lot of the time and a pretty big PITA.

With as big as this bot will be, even a slight amount of slop in either roll axis on a leg will result in a considerable amount of sagging at the end of the limb.

The reason for the top hip roll joints being arranged differently from the ankle roll is one of design practicality. You really only need about 30-45 degrees of travel on your roll axis total, that's combined between the two joints, so the limited range of motion on the ankle roll axis is not even an issue.

This isn't something you see as much with AX-12s because they usually will run out of torque before backlash becomes an issue. This is not the case with these higher torque servos.

A robot like Acroban doesn't use positional based commands, in fact it uses the inherit backlash to it's advantage. Totally different beast.

DresnerRobotics
10-21-2010, 03:10 PM
Quick update on some of the Kung Fu moves I've been working on. Had to adjust how he turns as well as his side shuffle to compensate for the heavier upper body:

YouTube - Giger Fu Part 3

RobotAtlas
10-21-2010, 03:50 PM
I don't know why, but those arm movements and no head just makes it so CREAPY.

darkback2
10-21-2010, 03:51 PM
So when are we going to see Giger fu vs RX-24F based PLM? Tomorrow?

DresnerRobotics
10-21-2010, 04:10 PM
So when are we going to see Giger fu vs RX-24F based PLM? Tomorrow?

Sadly, Giger would absolutely destroy anything less than an RX-64 based bot. Weight matters a lot in Kung Fu, which is why I think there should be a middle-weight class.

gdubb2
10-21-2010, 05:52 PM
That is really looking good..Kick some bot in Korea..

Gary

Zenta
10-22-2010, 01:44 AM
Awesome work Tyberius!
He looks incredible cool.:D

I hope he can walk forward and backward too?;)

UncleBob
10-22-2010, 08:46 AM
I want to see that bot behind in action
________
GSX1100F (http://www.cyclechaos.com/wiki/Suzuki_GSX1100F)

darkback2
10-22-2010, 10:28 AM
I want to see that bot behind in action

That just doesn't sound right. :-p

DresnerRobotics
10-22-2010, 11:24 AM
That just doesn't sound right. :-p

Hey man, ESL!

darkback2
10-22-2010, 02:19 PM
I was just kidding...course now I feel like a total jerk...

I know your PLM bot wouldn't translate as well as the others, but are you able to use similar poses for all of them? I am hoping that once I have things worked out on Hikari I'll be able to just transfer the poses over to the 24F version...

Also, Really good work BTW. I wish you all the best in Korea.

DB

DresnerRobotics
12-28-2010, 11:48 AM
Progress... sending stuff off to be anodized though, so it'll be a week before I have any updates.

http://img341.imageshack.us/img341/8977/gigerv4.jpg

master_of_robots
12-28-2010, 11:57 AM
...sending stuff off to be anodized...

What color, pray tell?

DresnerRobotics
12-28-2010, 12:14 PM
The non-color of Black! :)

master_of_robots
12-28-2010, 02:54 PM
The non-color of Black! :)

Heh, apparently "black is the new black"

I always prefer all of my components to be black, but I remember seeing a special on the SWORD robots in Afghanistan, and the soldiers were complaining that companies don't need to send them black robots...they get really HOT in the scorching sun. Taupe...zzzzZZZZzzzz

RobotAtlas
12-28-2010, 03:43 PM
Are there plans of sending Giger(s) to Afghanistan? :)

DresnerRobotics
01-10-2011, 09:50 PM
A bit more progress; battery mounted, feet finished, electronics backpack 50% done. Just need to bang that out and reroute some of his servo cables and I'm back in business. IMU is mounting between the hip-yaw servos (beneath the battery). He's a bit shorter than previous versions, weighs about 1kg less. The robot next to him is roughly the same size as a headless Bioloid Premium Kit.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/img_0905.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/img_0904.jpg

Zenta
01-11-2011, 01:11 AM
Hi,

Great work! I really like how you designed the hip part.
Awesome!

DresnerRobotics
01-14-2011, 11:44 PM
Physical build is finished. Fired up his gumstix tonight and started updating his servo layout. Now I start on making him walk (again), starting from scratch on all walking gaits.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/img_0911.jpg

I plan on making a removable Mech Warfare 'backpack' that will have shoulder mounted defenders, a wifi camera, and scoring transponder all in one unit. It'll actually sit on top of the torso though, not the back.

Quantum
01-15-2011, 12:10 AM
Nice. Is this still going to the anodizer?

DresnerRobotics
01-15-2011, 12:39 AM
Nice. Is this still going to the anodizer?

Yes, just been too busy to pack up all the other brackets in stock and ship them off. I figure I might as well keep making progress on him until then.

elaughlin
01-15-2011, 07:37 AM
Giger looks pretty awesome, my friend. I like the more compact look as well. He is still a monster, just not 30 stories tall (in mech warfare size). Very cool. Really want to see him walk.

elaughlin
01-15-2011, 04:20 PM
Got any views of the back of the backpack? Also want to see the build of the Mech Warfare pack/guns. Sounds like a cool idea for easy transition from kung-fu to mech warfare.

rebel
01-15-2011, 10:21 PM
Thats thing is looking great man :p

Psykoman
01-16-2011, 09:18 AM
Awesome work

DresnerRobotics
01-18-2011, 11:19 AM
Want to get some opinions here, I was tweaking the leg design a little and came up with this. Original is on the right, new one is on the left. Which do you guys prefer and why?

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfucomparison.jpg

Full res: http://forums.trossenrobotics.com/gallery/files/1/4/9/2/gigerfucomparison_original.jpg

SK.
01-18-2011, 12:40 PM
The new one. The further down mass in a leg is, the higher the leverage effect and inertia to overcome during the acceleration and deceleration of the foot/leg when walking. It thus makes sense to make the legs as lightweight as possible and to try to move weight higher up (which the new design does, even if only by a small amount).
Of course, this also means a higher COG, which might make the robot more unstable.
The "mass in leg" issue can really be seen as a agility vs. (static) stability tradeoff IMHO.

DresnerRobotics
01-18-2011, 12:55 PM
The new one. The further down mass in a leg is, the higher the leverage effect and inertia to overcome during the acceleration and deceleration of the foot/leg when walking. It thus makes sense to make the legs as lightweight as possible and to try to move weight higher up (which the new design does, even if only by a small amount).
Of course, this also means a higher COG, which might make the robot more unstable.
The "mass in leg" issue can really be seen as a agility vs. (static) stability tradeoff IMHO.

Agreed, the batteries in the feet of my previous revision ended up being problematic with quick strafing moves, etc. One of the reasons for moving towards this new design.

elaughlin
01-18-2011, 02:27 PM
Based on looks, I like the new one as well. It makes the leg look more solid, and has less knee "bends" (more like angles in the knee area). I see the less weight in the lower leg idea expressed as well. You wouldn't have to swing as much with each leg lift, since the bulk of the servo is above the knee bend.

Just my thoughts. Both are monsters still, and will be the destroyers of the Earth in 2012. So....

Stobs
01-19-2011, 08:17 PM
FWIW, from me, it seems like the new design also provides for higher lift of the foot, along a smaller arc as well. Dang nice bot Ty

Paul

DresnerRobotics
01-24-2011, 09:01 PM
http://www.youtube.com/watch?v=PpQfmUzaaMk

44cm tall, 4.7kg. Walking gait progress videos next!

elaughlin
01-25-2011, 12:28 PM
Really cool man. He's coming together. Love seeing the progress. I was watching the videos from previous Gigers to V.4. V4 is not as huge, but I really like how hes "grown".

DresnerRobotics
02-01-2011, 10:39 PM
http://www.youtube.com/watch?v=nE0gRGppoc8

This is about 20 minutes of gait work, veeeeery rough and early progress, but progress nonetheless.

Xevel
02-01-2011, 10:48 PM
The monster is alive :D

It looks very promising!

darkback2
02-02-2011, 07:58 AM
A part of me hates the fact that after 20 minutes worth of work your robot walks better than mine does after 4 months.

DB

DresnerRobotics
02-02-2011, 09:33 AM
A part of me hates the fact that after 20 minutes worth of work your robot walks better than mine does after 4 months.

DB

Don't be hatin! :p I've been working on gaits for Giger for 2+ years at this point, so I have a bit of experience on ya. That and when torque is a zero-factor in developing motions it makes things considerably easier, I only have to manage balance.

Upgrayd
02-03-2011, 10:02 AM
Are you going to have issues with the pan and tilt servos for the upper body? It seems that they are reversed.

You may recall that I ran into an issue with SA using a similar setup (http://forums.trossenrobotics.com/showthread.php?t=3383&highlight=amendment&page=14). Basically with the tilt below the pan I was unable to look up and down when the turret was facing the left or right.

DresnerRobotics
02-03-2011, 10:49 AM
Are you going to have issues with the pan and tilt servos for the upper body? It seems that they are reversed.

You may recall that I ran into an issue with SA using a similar setup (http://forums.trossenrobotics.com/showthread.php?t=3383&highlight=amendment&page=14). Basically with the tilt below the pan I was unable to look up and down when the turret was facing the left or right.

I don't foresee any situations where I'm going to have to shoot up.

I also have the ability to mix in Shoulder-pitch into my torso tilt movement, so I could shoot straight up if I wanted. Definitely an advantage of having the weapons mounted on 4DOF arms.

Upgrayd
02-03-2011, 11:22 AM
I was under the impression you were mounting the guns on the shoulders. Obviously my concern is invalid with the arm mounted guns.

Looking great as always. Keep it up!

DresnerRobotics
02-03-2011, 11:44 AM
Are you going to have issues with the pan and tilt servos for the upper body? It seems that they are reversed.

You may recall that I ran into an issue with SA using a similar setup (http://forums.trossenrobotics.com/showthread.php?t=3383&highlight=amendment&page=14). Basically with the tilt below the pan I was unable to look up and down when the turret was facing the left or right.

I thought you meant you ran into a collision issue, however after speaking with you in the chat you explained it a bit further. Basically once the torso is twisted, you get a roll axis rather than a pitch axis. I can still pretty easily mix in shoulder pitch here, might even be able to have it take over more the further from center-pan I get.

DresnerRobotics
02-03-2011, 09:29 PM
http://www.youtube.com/watch?v=M0R7AGsQnQA

Still pretty unstable and needs a lot of smoothing, also a slight drift to the left has worked its way in. BUT- it's walking without falling :D

mannyr7
02-04-2011, 10:40 AM
Very nice!

DresnerRobotics
02-04-2011, 10:57 AM
I got rid of the drift and smoothed him out a bit lastnight, waiting for a bit more progress before I post another vid though- I want the differences to be noticeable to the untrained eye.

Adding a head to him for quick pan/tilt capabilities, figure it will help to be able to quickly scan the arena for targets.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger_head.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/giger_head2.jpg

Borrowed this style of head design from the Robocup guys, allows for a huge range of motion.

DresnerRobotics
02-04-2011, 10:23 PM
And... implemented.


http://www.youtube.com/watch?v=ZZ0tCALPu_4

rebel
02-04-2011, 10:25 PM
Stop showing off lol.
That thing is awsome!

Zenta
02-05-2011, 02:07 AM
This looks much better than having a big trendnet camera as a head. Have you considered to add some sort of protection for the camera if Giger falls forward on his "face"?

DresnerRobotics
02-05-2011, 03:50 PM
This looks much better than having a big trendnet camera as a head. Have you considered to add some sort of protection for the camera if Giger falls forward on his "face"?

Yup, looking at adding an auto-motion when a fall is detected that will bring the arms up to protect the head.

Head is wired and functioning:


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

Zenta
02-05-2011, 04:08 PM
Cool, so now your giving him a natural reflex too.
Smooth movement, the head is kinda freaky. LOL. But as you said, very effective range.

Btw, what servos do you use for the head, RX-24F?

elaughlin
02-05-2011, 08:21 PM
I like the head this way, it looks more alien technology type than a standard measly human head.

SK.
02-07-2011, 03:50 AM
Yup, looking at adding an auto-motion when a fall is detected that will bring the arms up to protect the head.

Head is wired and functioning:


http://www.youtube.com/watch?v=YjRzbiJqAnk
We also have an automatic head reflex on our humanoids. I'd still recommend some sort of hardware protection though, with the current mount I would estimate the lifetime to be about on RoboCup Humanoid KidSize halftime (10 mins) maximum ;).
I guess there's plenty of opportunities in MechWarfare to damage it, too.

DresnerRobotics
02-08-2011, 11:21 PM
The final head will be armored, no PCB will be left exposed. For Mech Warfare, the arms will default to being outward so they will protect the head by default.

So, I added the weapons tonight with the intention of abandoning (temporarily) the quicker gaits I was working on and getting a slow and steady one for Mech Warfare working. What I didn't expect was that the additional weight of the camera and guns would actually improve my existing gait. The extra weight sort of equalized the balance; basically I was combating the speed and torque of the EX's on a very light frame. The head/guns added just enough weight to help balance things, dumb luck!

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/img_0949_1.jpg

Ran out of battery right after my first walking gait test, so I'll shoot some video tomorrow.

elaughlin
02-09-2011, 12:00 PM
Giger looks totally vicious. I love the pose that you put him in - "Hero down on his knees, head hanging, holding onto his two guns" pose.

DresnerRobotics
02-09-2011, 12:22 PM
Giger looks totally vicious. I love the pose that you put him in - "Hero down on his knees, head hanging, holding onto his two guns" pose.

That's actually just how he sits best!

I'll get some video tonight, going to be working on side strafing and turns, possibly a reverse gait.

4mem8
02-09-2011, 12:33 PM
Always a pleasure seeing progress Andrew. love your work :-)

DresnerRobotics
03-08-2011, 09:28 PM
Wifi encoder delivering a solid 30fps:

YouTube - Giger Video Feed Test

Also, Matt got a new expensive Canon camera and sucks at focusing:

YouTube - Giger v4: Screwing around with Matt's new camera

Matt
03-09-2011, 06:10 PM
Giger: FIXED