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    Project Re: Grinder skating hexapod robot

    Yes, the linkage design means it takes no energy to stand still, and the robot does not collapse when it loses power. The total weight with 2x5000MAH 4S LiPos is about 11kg, which is only slightly...
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    Re: Kinematic simulator in python?

    Great, can't wait to see it... The technique is actually pretty straightforward and extensible. The idea is that you build all linkages initially along a line, naming each end. Each leg is placed...
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    Re: Kinematic simulator in python?

    Yes, the trig seems very fast. I had to add a whole extra IK routine in to back-calculate the foot position from the wheel-on-ground position for skating, so I can ensure that the wheel is always...
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    Re: Kinematic simulator in python?

    Success! I realized I could massively simplify the simulator by a) reducing all linkages to cylinders and b) only using frames for each leg, and c) simply moving the cylinder linkage ends to the x,y...
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    Re: Kinematic simulator in python?

    OK I figured it out, made a couple of small changes to ik_visu.py and got it working. Nice simulator! I'm definitely stealing your control panel...


    def __init__(self, body, frame_in):

    ...
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    Re: Kinematic simulator in python?

    What version of vpython were you using? I am getting a variety of errors... likely because it's based on an old version.
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    Re: Kinematic simulator in python?

    I have had some success with the vpython approach. So far I have a basic linkage system built up, integrated with my IK code for generating the neccesary coordinates. I have to create a new frame...
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    Re: Kinematic simulator in python?

    Thanks for the tip, looks like I can do some interesting things with pyODE and visualPython. I had been looking at omd but it doesn't seem to have much support and the original site is gone... I'll...
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    Project Re: Grinder skating hexapod robot

    Does the Prime Sense camera have any libraries to you are working with? What language? Looks pretty interesting; I had considered putting a Kinect on the robot but it's a bit big; this looks like a...
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    Project Re: Grinder skating hexapod robot

    I don't really at this stage; I did some very basic machine vision stuff in my AI course, and I have two separate friends who have working code (one in C, one in Perl) to look at. Stereo vision is a...
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    Project Re: Grinder skating hexapod robot

    Hi xevel, yes I am just getting started. I have a very simple IK demo in, but I'm looking forward to getting some smooth gaits down. I'm pretty sure that I can get the skating speed up pretty high...
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    Project Re: Grinder skating hexapod robot

    Thanks!
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    Kinematic simulator in python?

    Hi folks! Does anyone know of a kinematics simulator package, preferably written in python? I have a new hexapod robot Grinder (...
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    Project Grinder skating hexapod robot

    Hello folks! I am new to the forums and I would like to introduce my latest progeny, a new skating hexapod called Grinder. The robot has 20 DOF utilizing 12x MX64T and 8x MX28T servos and just won...
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