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View Full Version : [Bioloid] Banana Bot - Custom bioloid humanoid



Suicidal.Banana
10-07-2009, 03:52 AM
Heys all,

A few months ago i purchased a bioloid comprehensive kit, build a few of the bots and eventually the humanoid, played with the default software a bit making some custom motions/behaviour, but it just didn't cut it, for one, the standard 18dof humanoid has very limited arm movement, and secondly the head wont move.

So recentlly i decided i should go 'full swing' with this new found hobby, and make a custom humanoid, for now i have dubbed it simply 'Banana Bot' but i will come up with some clever greek/mythological name later. I will stick to using bioloid parts (aka the bioloid brackets/ax-12's) even though it remains to be seen if they can cope with the configuration im making.
Once i get better with these robotics, i will make a fully custom robot with better servo and custom machiened brackets, one step at a time hehe.

Some media can be found in my trossen gallery here (http://forums.trossenrobotics.com/gallery/browseimages.php?do=member&imageuser=3599) start at the end and work your way to the front for chronological order.
I just ordered a arbotix board yesterday, i will use that instead of the cm5, because for one the cm5 wont fit anymore due to building a head pan servo in the chest, and well, because i wanna have some more control and ability to add more sensors later etc.

To sum up what i have so far, a quicky movie of the humanoid as i have it now, its currently only torso since i dont have enough servos to build the legs, also; this demo was made using the default software, nothing fancy yet.

http://www.youtube.com/watch?v=SnRn9QT3Uik

I will keep updating this thread with more info/media as the project progresses.
The 'black things' on his head are wireless cameras (those that dont seem to have a brand, just 'wireless camera', youve prolly seen them before), wich are hooked to a lappy, will also connect the xbee to sayd laptop and then have the laptop acting as a remote brain sort of thing.


Update 1:
Found me a nice battery, ordered 2 plus a charger

http://www.rctoys.com/images/products/TP-2250-3SP30_1.jpg
Specifications for Thunder Power RC TP-2250-3SP30 LiPo:


Voltage: 11.1V
Cells: 3-Cell
Capacity: 2250mAh
Max Continuous Discharge: 30C
Max Burst Discharge: 60C
Max Continuous Current: 68A
Max Burst Current: 135A
Weight: 180g
Dimensions: 25 x 34 x 104mm


Update 2:
Arbotix (starter kit) recieved! didnt recieve the above battery/charger yet, so i will prolly have to wait till the weekend or some before having all parts (so also power and servos) to continue building/start coding

Update 3:
Dont you just hate how 'online companys' process orders? i've just recieved a box holding a lipo charger balancer, yes, thats only a balancer, and it would have fit at least 15 times in the box, and the charger and batterys i ordered a few days before the balancer arent here yet.. Ah well, more waiting.

On the bright side i've been playing with my arbotix for a few days now, had to iron out some small problems (thanks again fergs) but now its totally awesome, soon (hopefully upcoming weekend) i will look into how to send 'motion commands' to the arbotix using something else then pypose.py (so that i can start coding :D) as soon as i recieve the additional servos and other missing parts ill make new vids and post 'true' updates from time to time.

JonHylands
10-23-2009, 11:18 PM
Looks very nice. Do you find the shoulder servos are straining with all the extra weight the arms have?

- Jon

Suicidal.Banana
10-24-2009, 10:13 AM
Heys, thanks!
yeah, i got pre-warned by Andrew about you having to use RX-64's for your brainbot shoulders, and before i was using the Arbotix one of the arms would randomlly 'sag' down and no longer move that shoulder servo, however, with the arbotix (and 12v instead of 9.6) it seems to accept it. (no more 'sagging')

It remains to be seen how well it can lift objects etc, the few motion-only-tests i did on grabbing did seem to work, but is kinda hard to test atm due to the fact that its only a torso with most weight in its arms. I have a box of servos next to me (finally!) and should soon get a box of bioloid brackets from trossen, then ima construct legs so the weight gets evened out.

At this very moment im looking around in VC# i was hoping to use VC++ since i already used that for roughly a year making gta iv mods (lol) so i know where to find things there, but for some reason my vc++ install crashes when i try to make a form, so ye, installed vc# just now. will use that to code a 'brain' for my bot

Edit: pics of my box of joy
http://forums.trossenrobotics.com/gallery/files/3/5/9/9/p1000602_thumb.jpg (http://forums.trossenrobotics.com/gallery/showimage.php?i=1871&catid=member&imageuser=3599) http://forums.trossenrobotics.com/gallery/files/3/5/9/9/p1000604_thumb.jpg (http://forums.trossenrobotics.com/gallery/showimage.php?i=1873&catid=member&imageuser=3599) http://forums.trossenrobotics.com/gallery/files/3/5/9/9/p1000603_thumb.jpg (http://forums.trossenrobotics.com/gallery/showimage.php?i=1872&catid=member&imageuser=3599)