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Torsion springs are definitely on the TODO list.
The robot can currently hold its home position with torque off, but more weight is going to be added (battery being the heaviest).
Fans and heat...

Thanks jwatte, I was going to say the same!
The XL320 is good if you want something significantly cheaper. I was gutted to see the newer X-series this year and not have them now!
If you see the...

That's a very elegant solution to counteracting torques. I've seen something similar with leaf springs, but your idea seems easier to implement. I might have to try it myself as well!

After lots of 3D printing and some metalwork, this is the current state of the chassis:

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There's a lot of weight for those middle servos and brackets to handle, so may need a...

Very nice design, and nice moves!

Glad to see I'm not the only one picking up projects after years (my Bioloid dates back to 2007 :o)!

Keep up the good work.

I've managed to get all the motors now, and assembled all the legs!

The walking is very crude at the moment, as it's just using a test walking gait sequence from the test program converted...

Two legs built and old test rig scaffold repurposed. Videos to follow soon hopefully.

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It's been a while, but the project is still ongoing! Here's a bit of progress news:
I have sourced most of the metal and plastic brackets and motors. I did not have enough of the standard plastic...

Lookinag at you Arbotix-M, all I can say is my jumper is the other way round, as in the guide, and I am using Arduino 1.0.6.

Since you can download the it and run without any installation, it's...

Hi,
Have you tried a different 12v power supply?
Also, is the servo visible in the Robotis windows program? Does it have a valid ID?...

An IMU is something that could easily fit in the internals of the bot. Placement of the wheels was only in consideration of the CoG. My entry was more a test of "how much interesting stuff can I fit...

That's a good idea, especially since the main prize is a PhantomX!

Lots of interesting designs have recently appeared, any from Trossen users?

Here's my entry:
https://www.thingiverse.com/thing:2397708
No idea if this would work in practice, but one day I might...

Hi,
As jwatte said, it depends on the scale of your project. It might be fine and easy for a small one, but visual programs will quickly become frustrating in their limitations if your project is...

Hi all,

I presume you've heard of the recent Chip-E challenge, looks interesting. I'm thinking of submitting an entry, although it would be entirely theoretical in CAD!
Anyone else thinking about...

:happy:

Hi there.
I just set up one of these very recently. Just a few checks in case you missed any:
Presumably the power jumper is in the right place?...

https://www.sparkfun.com/products/13929
Anyone used one of these?

So, if the SetPosition() command is commented out, the serial code continues working when laptop is on battery power.

I'm using the standard bioloid power supply to power the servos through the...

I narrowed it down to the simplest possible case, and can replicate the problem easily, ignoring the test Python program entirely:
I uploaded this minimal program to the Arbotix:


#include...

Thanks for the tips!

About the black colour, the intention is for most of the dynamixel parts to be blue. I have blue spray paint for metal (and primer), not sure how well it will work but will be...

It moves! An Xbox controller joysticks moves the foot target position, and IK is solved such that the foot tries to stay in parallel with ground.

I've tried to get the position updating as fast as...

https://www.youtube.com/watch?v=poPeO7xxA90

That's a lot of stuff!
Do you have any AX-12A's? I'm looking for 16.

I had exactly the same issue. I then downloaded 1.0.6 as shown in the quick start guide:
http://learn.trossenrobotics.com/arbotix/7-arbotix-quick-start-guide
Haven't yet tried the beta version for...

Hardware parts received! AX-12, Trossen metal brackets and ArbotiX-M controller. Some parts do not have metal counterparts, so I used spare plastic parts from my Bioloid kit.
I have put together a...

The Inverse Kinematics are now also done, just in time for the hardware.
I am still going with the idea of always keeping the foot perpendicular to the body/ground for now, I may have to make it...

Thanks for the advice jwatte!

I'm going to build a test rig for one full leg soon, without decorative 3D parts. Even that is not cheap!

The forward kinematics are calculated, but that was the...

Interesting point regarding the centre of mass. This discussion is interesting, generally it depends on how you look at it, e.g. from a physics vs control point of view. A longer pendulum will take...

Excellent project log! Really like the leg design as well as the remote controller, looks professional.
Keep up the good work.

Yep, USB2AX and a SMPS2Dynamixel (plus a 12V supply) works great!

Hi memmerich,
Seems like this post has been here for a while, but for what it's worth I moved from Indigo to Jade, then Kinetic, and other than some minor chenges needed to Xacro files, the...

Thanks! Sensors such as the FSRs can be easy to add. I've already strengthened the feet with metal plates, and updated the rear bumper, which now fits a 2200 mAh battery nicely.
The main issue is...

Hi all,

I'd like to introduce Quadbot 17, a quadruped robot born out of a learning exercise in Autodesk Fusion 360. The robot currently only exists as a CAD model, but with any luck it will become...

Hi all,

I realised it's been quite a while since I updated this thread, so thought I'd make some notes on the progress. I've been working on a few various things, but as always I wish that they...

Glad it was of use! I'll check out your video later today.

The Gazebo inertia params were only placeholders so I could get the robot into Gazebo as a quick test. A good source of experimental...

Hi all,

I am attempting to test some simulated controllers to actuate the joints of my Bioloid in Gazebo, and have configured the gazebo_ros_control plugin as shown in the Gazebo tutorial....

The control GUI has been updated with a number of new functions now, however I have had more important progress with integration into MoveIt.
It took me a while to get my head around how the...

Small hardware update: The robot now has a frame for use while working/testing, which makes life so much easier than trying to find a balanced resting position with the robot standing upright!
And...

Thanks! I don't have any idea how far along HR-OS1 is, I've been meaning to have a look into it for a while now.
Lately I've been working on tidying up the hardware side, and this week I got my very...