View Full Version : Shadowcat

11-12-2009, 11:22 AM
New project for now. Little guy I am trying to make like a shadowcat.

11-12-2009, 11:51 AM
Little more done.

11-12-2009, 12:08 PM
Little more done...

11-12-2009, 12:18 PM
Trying to walk lol :p

11-12-2009, 12:56 PM
Wow...that is a really minimalist design.

What kind of servos are you using? The legs seam pretty long from a torque standpoint is all...


11-12-2009, 01:06 PM
yeah that looks really awesome :) can't wait to see it in action!

11-12-2009, 08:00 PM
Cool design. Might be a challenge to get a stable gait, but I appreciate the ambition and originality.

11-12-2009, 10:00 PM
5980SG's are the servos, gonna use SSC-32 for control for now. :D

11-13-2009, 01:57 AM
Wow! Those legs are really long. What is your plan for handling the moment on the ankles?

11-13-2009, 11:09 AM
It seems that, when shifting the weight to get a stable gait, you will have to make the bot lean a lot in one direction.

It looks really cool and I can't wait to see it walking!


11-13-2009, 11:37 AM
Ya mad some 3.5" x 3.5" feet today. Gonna try to play with him later. Can change legs, to make shorter if these do not work

11-15-2009, 12:47 PM
Here are the new feet..

11-15-2009, 12:58 PM
Here I had to make new upper leg peices, i like the clear poly. I also had to drill out the metal servo horns to fit 4-40s. The regular ones where stripping and seemed weak.

11-23-2009, 11:36 AM
Figuring out the wireless.
Is there a XTCU or another program that works with Vista?

11-23-2009, 01:01 PM
Nevermind, found a guide for using Hyperterminal to setup Xbee;

11-23-2009, 01:26 PM
Friends don't friends use hyperterminal.

Do a web search for realterm

you can thank me later.

11-26-2009, 07:27 AM
Working with the Lynxmotion Sequencer to try to get some steps going lol.
Here is my progress. Any help would be welcome.
Think I have to change video file, not loading quicktime video.

11-29-2009, 11:59 AM
These are my updated pics.
I made him about 3 inches shorter, and narrowed his hips allot.
These two changes made a night and day differance in his walking.
The razor you see in one pic is holding the 9V in place for now.
Have to make a better holder later.
The side view shows all three forward/back leg servos at a not-max-height setting.
This helps when trying to walk, when you extend one leg(max height) the other can move and not touch the ground this way.
Took me a while to figure that out lol.

11-29-2009, 12:31 PM
UP/DOWN, this is with old legs. YouTube- robot up/down

This is him walking, with new legs YouTube- Trying to walk


12-03-2009, 11:03 AM
Made some more changes. Narrowed hips little more, only using one servo for both tank guns now.
Any sugestions to further him along?

YouTube- robot with guns


12-03-2009, 01:19 PM
Its looking great. Keep up the good work.

12-03-2009, 02:15 PM
That 'bot is coming together.

Good work.

12-03-2009, 02:30 PM
Very nice, you really nailed the 'mech like' aesthetic with this one.

12-03-2009, 02:44 PM
How are you planning to tilt the guns? Are you planning to use the hips for tilt?

12-03-2009, 04:35 PM
Nice bot. Looks kinda like a Rifleman. :)

You're probably going to need a gyro or accelerometer to get it really stable, but you probably already know that.

1st Cavalry Division?

12-04-2009, 11:05 AM
Thankyou all for the nice comments. Has taken me a while to get it really going.
xdream the guns will be tilted up and down by one servo. If you look close at some of the photos, the servo is almost right under the SSC-32.
Will post video so you can see it move.
Not quite to the point for a gyro or accelerometer.
The main problem with the top shacking is the poor servos, I think, I have 2 hitec 311s, yes I know very weak, controlling the top for now.
Planing on getting better servos soon, hoping that gets ride of the shaking.
Also want to name the bot Seisure, because the first time I aplyed power it just started going spaztic and looked like it was having a seisure.
Yes I am in the 1st Cav, 615th aviation, currently in Iraq, hopefully home in time for the robogames.

12-06-2009, 10:35 AM
Gonna use tictacs, the paint and my servo boxes for LRM(bb holders).

12-06-2009, 10:38 AM
Here is what I ended up with, what ya think?
Tryed to get it to look good as possable. :p

12-06-2009, 12:11 PM
Hey Rebel,

Looking sharp.. I like the entire look of the beast. The gun mounts look great.

Hope to see you in April at Robogames.


12-06-2009, 03:23 PM
Those BB holders are sweet. :wink:

I hope to make my first Robogames next year. It would be great to see you and Shadowcat there.

12-14-2009, 11:11 AM
Got close to having the turning down.
More challaging then I thought just to make it turn.
And working with lexan to make it look more like a mech.

YouTube- Shadowcat biped turning

12-19-2009, 01:44 PM
Got my BB2 now and trying to use it and the code from the sequencer program.
If anyone has experiance using the two together, I couls use little help please.
Do not know the best way to use them, do you put the sequences on the EPROM on the SSC-32 or do you put them on the BB2?
Also trying to find any programs close to the MECHDAR or MECHDAR itself, I can try to (using the BB2) integrate, makes it easier to drive the mech using the camera if I can get close to knowing the distances everything is from the mech.
Thanks for any help again. :p

12-19-2009, 02:17 PM
Mechdar isn't going to run on the BS2. Don't even write that where Fergs might hear. Last thing any of us want is Fergs dying from an aneurysm or choking to death from swallowing his tongue.

12-19-2009, 02:18 PM
Super sweet work.

Check out different surfaces for the bottom of your feet if you can, Tybes has some pretty cool stuff on giger. That might help with turning. Also, see if you can't play with shifting the weight around. If you can you might also consider a hip turn servo so that you can pivot around it in stead of skid turning...

Unfortunately I have no experience with the BB2. I wonder if you can't store the gates on the SSC-32, and then choose which one to play back through the BB2...Check with the people who are making autonomous mechs...they will probably have better ideas.


12-19-2009, 02:44 PM
MechDAR never really got finished. I ended up taking over the scoring system last year, and just ran out of time to build the MechDAR, scoring, and Issy before robogames (and the MechDAR lost out). The rough draft is actually hiding out on our website: http://vanadiumlabs.com/mechdar/ but it's very rough. It currently just displays a single frame, and each frame of data is quite sparse.

One of the issues here, is that we are effectively doing SLAM without any control input or feedback on the control input. If the system were integrated into the control system, and the control error was minimized, it'd be straight forward to get working. I have a planned out method for doing this without the control input, but it's untested/unproven, and I doubt I'll find enough time to work on it before April comes around.


12-19-2009, 03:41 PM
Hey Rebel,

Bots looking good.

I have never used the Bot Board, but I was going to use a Roboduino in conjunction with the SSC-32 to control Bheka. I ended up not using the Roboduino at all, just sending commands to the SSC-32 from RoboRealm, and using it as my video as well. There are mixed opinions about that setup, but so far I'm happy with it.

I save my sequences to the SSC-32's GP sequencer, then call them from Roborealm.

Good Luck

12-27-2009, 10:39 AM
Changed the feet again. Now they are IAW the biped race rules.
Quicker smaller steps seem to work allot better.
And some pics with new cover on the mech.

12-27-2009, 11:25 AM
That's a lot of hardware you have there. =)

I really like how your 'bot is looking now. How much longer until you think it will be ready for competition?


12-28-2009, 12:07 PM
Mech alking with new feet: YouTube- Shadow trying to walk fast, robot
As for being comp ready still have a while.
Pretty much movement down, but trying to make better, and stable.
Waiting on camera and battle swich, then can work on targeting, getting it zeroed in.
I think will be a work in progress for a while.

01-10-2010, 12:17 PM
Made some changes, batteries are lower and centered
Added hip twist servos
Will post pics when I can find a working camera, none at PX for now

01-11-2010, 12:29 PM
Here is some update progress.
Installing the hip twist servo and making new mid section.

01-11-2010, 01:07 PM

Sweet looking legs! (the robot...I am talking about the robot.)

How much run time are you getting out of those batteries?


01-11-2010, 01:16 PM
Here is some more progress pics, do not know if I like it like this. :p

01-11-2010, 01:18 PM
With two 2100 7.4v lipos, about an hour of test and pose, do not know under regular conditions.

01-11-2010, 01:19 PM
Using 2 9v 520s for about a week and have not recharged yet

01-11-2010, 01:52 PM
Ahh...I get it. I thought you were using those 9 volts to power your servos. I was starting to think I have been doing something wrong.


01-11-2010, 02:40 PM
Here is some more progress pics, do not know if I like it like this. :p

It 'looks' fantastic!

01-12-2010, 04:25 AM
This is better! Happy with the mech like this. :p

01-12-2010, 07:26 AM
Wow nice job!

How tall is that badboy?

01-12-2010, 10:03 AM
With "missile pods" installed just over 16 inches

01-12-2010, 10:23 AM
Need some help with the tank guns.
One works perfect, the other loads but does not fire, but when I tilt the barrel down the BBs fall right out.
I do not have any experiance with airsoft at all so any help would be nice.

01-12-2010, 11:01 AM
There is a small rubber "grommet" type thing just inside the gun where the piston meets the barrel adapter. This holds the BB in place while the piston comes forward and blows it out. If this piece is damaged or missing, the BB will just fall out.


01-12-2010, 11:25 AM
I'd highly recommend picking up a few spare guns in general before the competition as well.

01-12-2010, 11:45 AM
Hey again..

What Tybs said.. get spares.. If it's a hassle getting them, let me know. I have some spares, and have switched to a different gun on Bheka.

Good Luck

01-12-2010, 02:48 PM
Thanks for tips.
Here is my first attempt at turning and walking with hip twist servos.:p

YouTube- Shadow robot turning

YouTube- Shadow robot walking with hip twist servos

01-12-2010, 02:58 PM
Looking good. I like the added dimension that gives.

01-17-2010, 10:27 AM
Got my servos to control the arms, SFE lasers and the pico switch to turn the lasers on and off. :p

01-20-2010, 10:12 AM
Here some updates. :p

01-20-2010, 10:25 AM
Double barrel.. nice look..


01-20-2010, 10:48 AM
Just a note, something many of us learned at RG09, is that the lasers are really tough to see through the webcam -- I'm not using a laser this year, just tuning in a crosshair on my GUI. You'll also want to make some sort of cover or shut-off for the lasers in the pits.


01-20-2010, 10:50 AM
For those using lasers, the Sparkfun TTL one works a whole lot better (i.e. is much brighter and visible) if you power it using 12 volts instead of 5... BrainBot has no trouble seeing his laser, but he has much better quality cameras, so its hard to say...

- Jon

01-21-2010, 03:28 AM
The lasers are controlled by the botboard and pico switch.
The sfe lasers seem to work fine, with the camera on at work and can see at a good distance.

01-30-2010, 10:18 AM
Got my Clover camera set up and working. :p

01-30-2010, 10:58 AM
is there a way to connect a xbbe to an ethernet conection?
Could not find one on the net thanks :p

01-30-2010, 11:20 AM
What's an xbbe?

If you mean an "xbee", sure. Just add a micro controller that has ethernet and ttl serial. Plug the xbee into the serial, and then write a packet redirector/gateway on the micro controller.

You aren't planning on trying to compete at M-W with that 2.4ghz analog camera, are you?

01-30-2010, 11:45 AM
No, just using that for now, people do not like shipping electronics out here and I had one to play with. Do not have a camera here an want to play :(

01-30-2010, 11:54 AM
Hey Rebel,

Are you going to be off deployment in time for RG??

Keep safe

01-30-2010, 02:00 PM
gdubb2, truthfully I do not know. I am planning on being there, but with everything in the military, you really never know. I have asked my chain of command, and told them about getting home in time to go. They told me that they support me, but not sure. Trying to stay positive. Really been working on shadow almost the hole time I have been here. Sort of makes me uneasy writing about making it there on time. :(

01-31-2010, 10:12 AM
Update photo. :p

Robot Dude
02-02-2010, 12:48 PM
Hey Rebel,

Just wanted to tell ya that bot is looking really nice. Keep up the good work!

02-06-2010, 10:07 AM
Here are new pics, above the chest twist sedrvo you can see the 2 pico switched controlling the lasers and guns.
And my new case so I can hand carry him when I leave Iraq.
Getting close to coming home, can not say when, but I still do not know if I will make it.
Robot guy, thanks for the kind words :p

02-06-2010, 09:14 PM
Looks AWESOME!!! Look forward to seeing you and thanks for your service!
PS. Can you upload some video?

02-24-2010, 10:17 AM
Pretty much 100% sure I will not make robogames, got put on trail. :(
But looking foward to meeting you guys and seeing your stuff when I get a chance.
I am going to recruiter school, so hopefully I will get chances to attend competitions after.

02-24-2010, 11:58 AM
Good luck at recruiter school.

Sorry we won't get a chance to meet you just yet.. In the future.


12-07-2010, 10:05 PM
Just stoping by to say I am back. And working on my project again. So any helpful input would be nice. And who ever sent me something while i was in Iraq, send me a tell so i can take of it.

12-07-2010, 10:28 PM
Hey rebel,

Welcome back.. been wondering when you would be back up and running..


12-08-2010, 09:03 PM
I am actually starting from the begining. My hard drive was destroyed, on the way back. But should have him walking again this weekend.:p

12-09-2010, 02:40 PM
Video! We need video!