View Full Version : Mech- Jeff

02-16-2010, 12:20 PM
Hey everyone I just wanted to start a thread for my entry in MW 2010. I have been working on it off and on for about a year. The design has changed a lot from when I first started so it is really hard to say when I started on the current version. I took it to Toronto a few months ago for the walker comp and ended up placing third.

Jeff is a lizard type 3dof per leg quad. I am using AX-12s for actuation and an Arbotix for control. I am using Trendnet wireless camera for vision. The battery is a 2100 mah 3s Lipo. Right now I am planning on using one defender gun, but I am also considering using two tank guns.

I haven't had much time to work on it recently because I have been pretty busy with another robot but I hope to have some more work finished by the end of the month.
Here is a little video of my progress so far.


02-16-2010, 12:22 PM
Also before I forget, I am using Pypose/NUKE to generate the walking gaits.

02-16-2010, 01:04 PM
Not sure if I said this before, but you might want to check your setupIK() function, and play with the X,Y starting points... normally, having the legs a little more out to the sides (rather than front/back) will make walking a bit easier -- especially with the load of mech gear.

Issy is now running with the X offset just smaller than the Y offset so that he's very omni-directional, your X offset looks to be a lot larger than the Y...


02-16-2010, 04:12 PM
yeah I remember you saying that. I switched it but didn't take a video of it with the changes. I thought it was kind of strange though because once I switched it the legs had basically no forward travel. This was especially evident in the back legs. I don't know if the gait generator just doesn't have the rear legs move forward or if I messed up the values.

03-13-2010, 09:09 AM
Ok here is a little video update. This might not look much different from the last one except of course the legs. I am using a commander to control Jeff though. The legs are dark green by the way.


Yes Jeff still look pretty rough as far as wires everywhere, and no guns. I am hoping to have him fully built over this coming week.

03-28-2010, 10:53 AM
Hey guys I just wanted to give everyone a little update. I have been spending a lot of time trying to get my fire fighting robot ready for competition. I spent a little time the other day working on a mount for the camera and guns. It isnt totally finished yet but should be by the end of the week. I am running pretty short on time but it should be done very soon. Here is a little demo video of Jon's power board in action. You can skip the first half of the video, which is just me showing one of my professors how the commander works.


04-16-2010, 09:13 PM
Jeff is pretty much complete. All I have left to do is put the arbotix and score transponder back on an secure the batteries and Jeff will be ready to go.

04-17-2010, 11:24 AM
Woo! Go 'The Robot's Name is Jeff'!

04-17-2010, 11:35 AM
Squidword is going to have to learn to aim down. Those target plates are damn near on the ground. Sweet looking bot.


04-22-2010, 11:01 PM
The new Arbotix is working.