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innerbreed
08-31-2010, 04:33 PM
IRON WOLF

Start Date: 18-2-2010
Software version: v1.0
Description: Iron Wolf 4DOF Quadruped project.

Here i have converted Xan's "Phoenix_V1.3" hexapod code for upright quadruped locomotion, using
Zenta's "Felix_V2.0" as a reference, and pre-convertion of Xans V2.0.
Hardware setup: ABB2 with ATOM Pro28, SSC32 V2, PS2 remote, 16x HS645MG servos


Introduction:
This Project introduces the mammalian style quadruped robot, iv called Iron Wolf.
Originally this project started off as a biped project.

This quadruped robot is my second attempt. my first attempt didn't get walking as i didn't have the know how and programming skill so accomplish it.
After using Xans Hexapod Phoenix code v2.0 it gave me a starting format to base my quad on.

The design for this quad started out as 5dof but i soon realized i wouldn't need the hip rotate servo so it was soon removed from the design.

http://i531.photobucket.com/albums/dd355/innerbreed/100_2134-1-1.jpg
Here are the design ideas for leg placements.http://i531.photobucket.com/albums/dd355/innerbreed/100_2024.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/Quad.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/quad2.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/quadtop.jpg

this will explain how i have used the hexapod code to mimic upright loco.
i have used the calculations for the "phoenix"'s rear legs to get my "Quad" rear legs to work. this works great as they resemble them mechanically quite closely.

http://i531.photobucket.com/albums/dd355/innerbreed/legcompare.jpg
the first build..
http://i531.photobucket.com/albums/dd355/innerbreed/100_2090.jpg
A small video Demonstrating some of the gaits, i was testing for this project.
obviously many of these gait will not work on this robot but they are examples of quadruped gaits, so i thought it may be of interest to others.
some included
Wave,
Ripple,
Trot,
Pace,
Gallop.

YouTube- Quadruped robot IRON WOLF gait test

One major problem i had with the robot was stability. to over come this while i was testing the gaits i added some large feet.
they helped me test the code and also gave me some fun. looked kinda funny.http://i531.photobucket.com/albums/dd355/innerbreed/100_2144.jpg

YouTube- IRON WOLF Quadruped Robot walking +turning

for more videos:
http://www.youtube.com/user/innerbreed

once i had the code working fine i started to finalist the design to its optimal level.
although i lost some of the DOF, it worked well without those large feet.
http://i531.photobucket.com/albums/dd355/innerbreed/100_2189.jpg

http://i531.photobucket.com/albums/dd355/innerbreed/100_2191.jpg

http://i531.photobucket.com/albums/dd355/innerbreed/100_2192.jpg

This was complete accident but i thought it looked cool so i decided to share it with you.
i was using L2 body moves and using the right J/stick down it allows it to move back and sit up. . . cool.
http://www.youtube.com/watch?v=TZPWQS5f_xk
(http://www.youtube.com/watch?v=TZPWQS5f_xk)

defwheezer
09-01-2010, 12:15 PM
Ahhhhh- damn that's cool! Can it fetch and roll over yet? How long can you operate it with that size battery?

innerbreed
09-04-2010, 10:27 AM
i can get about 15mins from this battery on a constant run, since removing some servos from 5per leg to 4per leg iv got it to go for about 20mins. thanks for your comment.