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DresnerRobotics
03-15-2010, 07:24 PM
Hey guys,

Figured I'd share some of my more recent work; Dragoon. This is an RX-64 based quad using an arbotiX and the new & upcoming RX-Bridge. Walking gait is still needing tweaking, the COG shift from a bot this large being propelled forward is causing the back legs to drift, so I'm still tweaking the NUKE code to correct for this, I'll post more as I make progress. Note, in the video I have the servos toned down considerably, it can move about 4x faster from what I've seen so far.


http://www.youtube.com/watch?v=cxBDABA8aSM

http://forums.trossenrobotics.com/attachment.php?attachmentid=1844&d=1268699043

Updated vid, faster!


http://www.youtube.com/watch?v=F-Z0GeIS4Pg

mannyr7
03-15-2010, 07:46 PM
WOW! I didn't know the Arbotix was supporting RX-64's!

DresnerRobotics
03-15-2010, 07:58 PM
WOW! I didn't know the Arbotix was supporting RX-64's!

That would be the new RX-Bridge at work. :)

DresnerRobotics
03-15-2010, 09:54 PM
As a testament to just how awesome lnxfergy's ArbotiX platform (http://www.trossenrobotics.com/p/arbotix-robot-controller.aspx) and software (PyPose/NUKE) is, here's an update video after some more tweaks:


http://www.youtube.com/watch?v=F-Z0GeIS4Pg

Big improvement! I actually had it going about 50% faster than this, but it wasn't entirely stable. The unthinkable almost happened; a quad nearly fell over.

Zenta
03-16-2010, 01:59 AM
Hi,

Great work with the quad Tyberius!
I love the last video, 5 stars!
May I ask why you are using wheels on the feet?

-Zenta

rebel
03-16-2010, 07:00 AM
Nice progress looking great

DresnerRobotics
03-16-2010, 10:25 AM
Hi,

Great work with the quad Tyberius!
I love the last video, 5 stars!
May I ask why you are using wheels on the feet?

-Zenta


They're not functioning as wheels (they don't spin), it was just an easy way to make a rubber 'foot' given the design of the tibia.

sam
03-16-2010, 12:15 PM
Very nice!

I love it when it turns, very fast and agile. the last video is very nice!

Sam

Zenta
03-16-2010, 12:20 PM
They're not functioning as wheels (they don't spin), it was just an easy way to make a rubber 'foot' given the design of the tibia.

Ok that explains it!

Would love to see a hex based RX-64 too ;) . A small body with those large leg on a hex would be awesome.

billyzelsnack
03-16-2010, 05:26 PM
Movements are so crisp. Kinda looks fake! haha.

Zenta
03-17-2010, 02:21 PM
I've been watching your latest video several times and i must say I'm really impressed with the work around the kinematics and walking engine. Truly awesome!

Thinking of the range of motion the robotis servos have and since your quad are so symetrical, have you considered adding an up/down sensor for sensing if the robot has been flipped around? Reversing the kinematics shouldn't be to hard either.

-Zenta

darkback2
03-17-2010, 03:44 PM
I know you weren't exactly interested in "competing" this bot at robogames, but maybe you throw some rockets on it and run it in the hardcore class. That way you could pound the crud out of squidword...and I wouldn't feel half bad about it.

lnxfergy
03-17-2010, 03:51 PM
I know you weren't exactly interested in "competing" this bot at robogames, but maybe you throw some rockets on it and run it in the hardcore class. That way you could pound the crud out of squidword...and I wouldn't feel half bad about it.

Forget the rockets, he'll just climb on top of squidword and push him over... :veryhappy:

-Mike

DresnerRobotics
03-17-2010, 04:16 PM
I've been watching your latest video several times and i must say I'm really impressed with the work around the kinematics and walking engine. Truly awesome!

Thinking of the range of motion the robotis servos have and since your quad are so symetrical, have you considered adding an up/down sensor for sensing if the robot has been flipped around? Reversing the kinematics shouldn't be to hard either.

-Zenta

Credit goes to lnxfergy on all the kinematics. The ArbotiX + NUKE is a really powerful platform for quads and hexapods.

I have thought about making it 'flippable', really wouldn't be greatly difficult to implement.