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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Ok. In another hand, I don't know if the Pi is fast enough to run the simulation smoothly... But at least, you can run Py4bot core.

    Feel free to ask if you have any problem to configure it. BTW,...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    'visual' package is named 'python-visual'.
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Yes, Py4bot is written for Python2.x. It may be easy to switch to Python3.x, but I had issues with recent visual packages (at least on my debian), that's why I didn't use Python3.x...

    As said...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    I don't know. The difference is not that high, especially if you overclock a little bit the RPi2 (1000MHz/500MHz/50MHz).

    Py4bot will run, the robot global speed will just be limited a little bit...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Ok, so I won't migrate to inputs...

    I suggest your get a RPi3 to deploy Py4bot, it will be easier.
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    I implemented the new driver (I will call it USC32), it was really easy.

    But I need more time to switch to the 'inputs' package. Can you make some tests on MacOS? I would like to be sure it works...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Pygame is a little bit overkill. I just found this package:

    https://pypi.python.org/pypi/inputs

    Should be very easy to migrate from evdev to inputs.

    Can you tell me what is the complete...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Py4bot doesn't (yet) limit servos rotation, but it limits maximum inputs (step length/angle); it is easy to tune them so you never reach servo limits.

    I had a quick look at the documentation of...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    I think the Veyron uses the same commands (they mimic the SSC-32).

    You can give a try with this driver; all you have to do is to adjust the port and baudrate, according to your board.
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    @scprotz, yes, sure, Py4bot can be used for such Hexapod! It is made for such hexapod ;)

    Do you have a complete documentation of your board, so I can write a driver?

    Py4bot also computes next...
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    Interesting Re: Lewansoul LX-16A bus servo

    Well, I think we can say it controls voltage if the supplied circuit acts as a voltage low pass filter (capacitor), and controls current if the supplied circuit acts as a current low pass filter...
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    Interesting Re: Lewansoul LX-16A bus servo

    I'm aware off back emf limiting the voltage on the coils. But if a motor is rated at 4.5V, it means it is rated at 4.5V. And Mabuchi confirmed that: running this motor at 6V is not recommended, and...
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    Interesting Re: Lewansoul LX-16A bus servo

    I received from Mabuchi the full datasheet of the motor used in the servo: it is rated to 4.5V!! I checked, and at full speed, the H-bridge delivers the full battery voltage.

    Even if a motor can...
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    Interesting Re: Lewansoul LX-16A bus servo

    In fact, they burn out based on power dissipation (as you calculated). So, it is equal speaking of voltage or current.

    But the current is relevant for the H-bridges drivers. They told me they are...
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    Interesting Re: Lewansoul LX-16A bus servo

    As I said, the new motor I ordered is rated up to 9V, but I found a lot of references rated to 6V. If they where using a 6V motor, they are already overpowered, so 25% more is too much.

    I will see...
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    Discussion Re: All about multi-legs robots gaits

    Fielding thesis is available here:

    https://ir.canterbury.ac.nz/handle/10092/6027

    It is really well written, with very valuable informations. Definitely the most interesting paper I've ever read...
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    Discussion Re: All about multi-legs robots gaits

    I found a very interested thesis, named "Omnidirectional Control of the Hexapod Robot TigerBug":

    http://scholarworks.rit.edu/theses/8612

    This thesis is mainly based on:

    Fielding, M.,...
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    Interesting Re: Lewansoul LX-16A bus servo

    But I was over-powering it! The doc says 7.4V only. As I will receive 5 motors, I will make a new torture test at 8.4V...

    Any idea what motor Dynamixel uses?
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    Discussion Re: All about multi-legs robots gaits

    Ok, but doing that, legs have to slip (except in tripod gait); the more brutal is the change, the more they will slip.

    I was thinking to change the step length only on the swinging legs, but then...
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    Discussion Re: All about multi-legs robots gaits

    For point D, I should have say pause, instead of stop. Yep, to really stop, we need to return to neutral. For now, I end the walk cycle and switch to stop cycle.

    But the problem is to be able to...
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    Discussion Re: All about multi-legs robots gaits

    Thanks for your answer!

    My gait engine looks like yours but I implemented the start/stop sequences (I plan to optimize them). The main problem is when I brutally reverse direction: all legs go to...
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    Interesting Re: Lewansoul LX-16A bus servo

    There where no load during the test. The Lipo was at 8.3V exactly.

    The motor reference is RF-130CH-20120. This is a mabuchi motor, but I was unable to find this exact ref. I ordered these:
    ...
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    Interesting Re: Lewansoul LX-16A bus servo

    Last week, I received my servo and started to make some tests. Unfortunately, I mis-read the specs, and powered it with Lipo 2S, so 8.4V instead of 7.4V. I asked it to move from 0 to 180° and back,...
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    Discussion All about multi-legs robots gaits

    Hi!

    As you may know, 2 years ago I started a Py4bot, a Python framework for multi-legs robots. The goal of this project is mainly to understand how such robots can walk, and provide some bricks...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    I wrote something explaining the problem of start/stop sequences:

    http://www.py4bot.org/wiki/Tutorial6AddGait

    As long as you don't implement such sequences, it can't be accurate. I agree, it is...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Even if you scale with tiny steps, legs on the floor will slip. It works fine for tripod, because there is only 1 group of legs stancing, all at the same relative position. But all other gaits will...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Thanks for you answer.

    I made a quick test and implemented your BETH gait generator: it is very responsive, but not accurate in all situations: the legs slip on the floor, I think because of the...
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    Project Re: Py4bot - a Python Framework for Multi-Legs Robots

    Looks like I missed your answer! Sorry for that (I don't receive notifications from the forum; don't know why).

    I dropped Py4bot dev last year, as I was thinking to build a BB-8 robot. But I...
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    Interesting Re: Lewansoul LX-16A bus servo

    I had a look at the protocole, and it does not look like Robotis one. It is much more basic, with far less params/features.
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    Interesting Re: Lewansoul LX-16A bus servo

    I asked them for an offer for 25 servos, and they proposed $11 :)

    I ordered one on Amazon to make some tests. I will post results.
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    Interesting Lewansoul LX-16A bus servo

    Hi!

    I just found these nice servos:

    https://www.amazon.com/LewanSoul-LX-16A-Robotic-Controller-Control/dp/B073XY5NT1

    Does anybody already use them for a robot?

    Thanks,
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    Project Re: Cronos - 4 DoF Hexapod

    Thanks, guys! I will make some more pictures and videos (to show differents gaits).
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    Project Re: Cronos - 4 DoF Hexapod

    Thanks :) Your famous T-Hex was a big source of inspiration!



    No, it is PLA. Black filament is from Capifil (http://www.capifil-extrusion-plastique.fr/en), a french company; they are new to 3D...
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    Project Py4bot - a Python Framework for Multi-Legs Robots

    Hi!

    2 years ago, I started to develop Py4bot (http://www.py4bot.org), a Python Framework for Multi-Legs Robots.

    This framework is used to drive Cronos, a 4 DoF hexapod...
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    Project Cronos - 4 DoF Hexapod

    Hi!

    I think it's time to present my big hexapod (I named it Cronos):

    http://forums.trossenrobotics.com/robots.php?project_id=104

    This is a 4 DoF robot, using 24 TowerPro MG996R servos. It is...
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    Question(s) Re: RobotGeek 180 Degree Robot Servo

    I mean the source link of the 3 servos hexapod project, where the video comes from...
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    Question(s) Re: RobotGeek 180 Degree Robot Servo

    Nice! Do you have the source link?
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    Question(s) RobotGeek 180 Degree Robot Servo

    Did anyone try these servos:

    http://www.robotgeek.com/rg-180-servo

    They looks great, and not that expensive. I would love to make tests, but shipping cost to France is $50 :(
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    Question(s) Standard servo electronic

    Hi!

    For my Hexapod project, I plan to use standard servos. As I don't want to spend too much money in this project, I ordered a TowerPro MG995 from ebay. But I got a clone! No bearings, and a huge...
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    News/Announcement Re: Servos controller using BeagleBone Black (PRU)

    My first idea was to use a Veyron Servo Controller, from DFRobot, and drive it from a RPi. But a friend suggested to me to switch to the BBB, and I have to say that I'm very happy with this...
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