This is an open sourced 4DOF Quadruped based on Ryan Lowerr's likewise OS Mech project OKQ1. Originally started with a 3mm lasercut plexiglas frame, later upgraded to .5875mm Carbon Fiber frame. Weapons are being redesigned, runs a 5.8ghz wireless video system.
2x 4S 2000mAh Milspec Lipos for servos, 1x 3S 900mAh lipo for controllers and camera
4DOF leg design, running modified NUKE for Inverse kinematics and gait.
Controller/CPU: Arbotix-M & ArduPilot
Arbotix-M is used to run all control code via modified NUKE sketch. Ardupilot is currently a separate system used just as an overblown accelerometer/gyro/compass for navigation data and OSD overlay to the video feed.
Sonar for distance ranging, wireless 5.8ghz camera system
18x MX-64T Dynamixel Actuators in legs and torso, 2x MX-28T Dynamixel Actuators in arms.
This project started as a carbon copy of Upgrayd's OKQ1 Project found here:
I worked with Ryan a bit in finishing up the torso of this robot and fell in love with his well designed 4DOF legs. Initial mockup was an exact replica of the OKQ1, but I didn't personally feel comfortable using plastic for the leg segments and so modified the design a bit to utilize the X-Long & 45 degree custom 5052 dynamixel brackets that Trossen Robotics offers:
From here I added some aesthetic improvements in the form of armor paneling to protect the servo casings. I've had a few RX-64s on Insanity Wolf get rather beat up after a number of rounds of competition, so I'm hoping to keep my shiney new MX-64s in better shape.
I had an offer from Mad Lab Industries to do a custom carbon fiber chassis instead. While the Plexiglas was more than sufficient, I couldn't turn down a free carb fiber upgrade and so after only having it built for a few days, I quickly tore it down to rebuild it into it's final form. We used 1/16" fiber glass and overall trimmed off close to 500g of weight by switching materials. One thing I learned the hard way, exposed edges of CF are VERY VERY conductive, especially with high current items such as Lipos.
As it stands right now, the project is still WIP. I had some issues getting Ryan's code to respond appropriately to the controller, so whipped up a 4DOF version of the NUKE based sketch to run on the Arbotix. I need to finish up a carbon fiber framed set of custom weapons and figure out what software system I'm going to be using, then she's ready for Mech Warfare!