Modified Trossen PhantomX to four degrees of freedom. (2nd Pass)


Modified Trossen PhantomX to four degrees of freedom. (2nd Pass)
Modified Trossen PhantomX to four degrees of freedom. (2nd Pass) (1 min 39 sec)
01-21-2013 at 02:28 AM
Uploaded by KevinO

Rating: 0 after 0 votes

Favorites: 0 - Views: 2128
Comments: 1



Tags:
Here is a video of it walking and doing the body movements. I've tweaked the commander input code to add a "hula" function which is just a translate and rotate of the body mixed together. Tarsus angle is where I want it for this type of leg configuration. The coxa, femur and tibia are all within 80-90 millimeters with the addition of the F4 brackets, the tarsus with my foot pads comes in at a wopping 145 millimeters. Still way to long... though it is working. Anyway enjoy the video!

Phoenix code written by Jeroen Janssen and ported to C by Kurt Eckhardt. Modified by Kurt Eckhardt and Kåre Halvorsen.
Submit Comment


  1. CAlbertson -
    I've been wondering two things about about leg geometry. (1) is what do you get with four degrees of freedom? Do you really need 4DOF or is it just for a larger movement envelope. But you get that with longer links between the motors so I assume you use 4DOF for some other reason. If the purpose is better leg traction don't you need 5DOF to avoid foot rotations.

    The other think (2) doesn't apply here, I was thinking about canting the coxa angles downward by moving the first servo y-axis off vertical to about 30 degrees.

    I am wiring on a hexapod simulator in Java and building just one leg to run on a test jig so as to measure leg performance before committing to a design. I expect my 'pod to eventually run ROS
Media Library © Jason Axelrod from 8WayRun.Com (sponsored by Hotslot.org, a Slot Machine Resource)