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lnxfergy
09-12-2009, 10:16 PM
I've been talking lately about building a walking fire fighter, but I've now finally started transforming Issy from a mech into a Fire Fighter, so I decided I should create a build log for what is a very different robot.

Issy's new body is about 2" shorter in both the width and length direction, a necessary adjustment to get him under the 12"x12" rule (yes, I know the Trinity contest allows walkers to be 12"x18", but I intend to take Issy to CNRG, and possibly RoboGames next year, and neither contest has a walker division, so the 12"x12" rule had to be followed). He's getting a head similar to what I had on GMR. The head will have an IR ranger for 99% of his navigation, a sonar ranger mainly for approaching the candle (since the IR gets wiped out), an IR photodiode for fire detection (similar to Crater's sensory), and a ducted fan for fire extinguishing. Issy is using an arbotiX robocontroller (http://www.vanadiumlabs.com/arbotix), and power is from an 11.1V 2200mAh LiPO. Early tests with IK have shown quite a bit of promise as far as odometry from walking - I've still got a ways to go as far as implementing a geometrically stable gait.

Here's some early photos, obviously the head is mostly empty, I'm hoping to get his sensors in there tomorrow. Front view:
http://forums.trossenrobotics.com/gallery/files/1/7/6/8/issyff-1.jpghttp://forums.trossenrobotics.com/gallery/files/1/7/6/8/issyff-4.jpg
Back Side:
http://forums.trossenrobotics.com/gallery/files/1/7/6/8/issyff-2.jpg
Underside View:
http://forums.trossenrobotics.com/gallery/files/1/7/6/8/issyff-3.jpg

mannyr7
09-13-2009, 12:37 AM
Wow! Awesome work Fergs! Definitely +rep from me. Can't wait to get my hands on that new controller. I like the compactness of Issy this way and your IK looks VERY promising.

Zenta
09-13-2009, 01:20 AM
Great work! I really like how you fixed the four coxa servos together using the rather simple aluminium bracket. Very compact and smart way to do it.

-Zenta

Adrenalynn
09-13-2009, 03:17 AM
Yeah, those compact legs are way cool!

bigderhak
09-13-2009, 12:21 PM
Me likes! I was thinking of making a quad with the legs centralized like this but maybe even more where all the hubs were as tight as I could get them. I don't know if it would be of any benefit, just something I was rolling around. Can't wait to see it in action!

lnxfergy
09-13-2009, 12:30 PM
Thanks to all, when he's walking he'll be slightly bigger since he can't keep his legs completely tucked up inside.

bigderhak - that's about small as you can go (while staying symmetrical) with AX-12s. There's only about 1/16" between the servos, since the servo's mounting lips overhang the it's body the gap looks larger.

-Fergs

bigderhak
09-13-2009, 12:33 PM
I was meaning to put them in a "X" so that all the hubs where in the center of the body. But again just an idea and I don't know that it would help or hinder any mounting or movements.

lnxfergy
09-14-2009, 03:42 PM
I've finished assembling Issy's new head, pics have been updated above. Hopefully I'll have a video of him walking and following walls tonight or tomorrow...

-Fergs

jes1510
09-14-2009, 04:18 PM
IssyAwesome? Yes, yes he is.

lnxfergy
11-08-2009, 04:23 PM
And here we go: first video of Issy fighting a fire:

http://www.youtube.com/watch?v=9GANtRooXlc

-Fergs

darkback2
11-08-2009, 05:28 PM
Really cool, and inspiring. Great work as usual fergs.

DB

robologist
11-08-2009, 05:49 PM
Fergs, that is too cool, great to see!

Adam
11-08-2009, 08:30 PM
Well done. Issy made it look a lot easier than I'm sure it is! :)

JonHylands
11-09-2009, 08:50 AM
That is so awesome! I can't wait to see that in action at CNRG...

- Jon

sam
11-09-2009, 06:06 PM
Me too!

The gait is fabulous, Walks great fergs.

lnxfergy
11-23-2009, 03:12 PM
Issy was looking really good in final practice before the games, but didn't manage to complete a run during the actual competition. He got hung up on the walls in 2 of the runs. On his second run he got into the room, was on approach to the candle, when his battery wire came loose and he powered off :sad:.

Issy did however win the Walker Challenge! Second and third place went to his ArbotiX-powered cousins, JonHyland's Roz, and sthmck's "The robot's name is Jeff". And, here's a video of his winning run and a pic of him with his medal:

http://forums.trossenrobotics.com/gallery/files/1/7/6/8/issywins.jpg


http://www.youtube.com/watch?v=Nb9NTeJ74xU

Zenta
11-23-2009, 05:24 PM
Wow!

That firefighting video was truly awesome! Very impressive work on the programming. Congratz!

-Zenta

sam
11-23-2009, 06:03 PM
when his battery wire came loose and he powered off :sad:.

Yeah, I saw that. It was really too bad, the candle was just a few feet away! It was really nice to see it in action!

Sam

nagmier
11-23-2009, 06:16 PM
Wow! Nice walking gait very smooth!