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Thread: Lexapod

  1. Lexapod

    Hi there..

    About 18 months ago I bought KHR-1HV. which soon lost its lustre and got modded with a lynxmotion SSC and a Sparkfun Bluesmirf..

    Attachment 486

    This lasted about 2 months before I saw hexapods as the thing to have.

    So I came up with Fluffy or as its now known, Lexapod

    Hand cut from 3mm and 4mm Clear Lexan polycarbonate...

    Attachment 487

    Like many, its original shape was inspired by Matt Dentons work at micromagic systems.

    Initially it was driven with a Lynxmotion SSC32 over Bluesmirf. The gait engine was written in VB.NET and worked quite well even managing to produce a variable metachronal wave gait.

    [ame=""]YouTube - Fluffy is alive[/ame]

    [ame=""]YouTube - .NET control of hexbot[/ame]

    [ame=""]YouTube - Metachronal or Wave Gait[/ame]

    I then experimented with OpenCV and EMGU in .NET this allowed a bit of vision

    [ame=""]YouTube - Hexapod with OpenCV / AForge . VB.NET[/ame]

    [ame=""]YouTube - What the Hexapod saw[/ame]

    Even motion detection

    [ame=""]YouTube - OpenCV Motion detection[/ame]

    Though most recent is the beta testing of Matts controller with my bot..

    [ame=""]YouTube - Lexapod with p.Brain[/ame]
    This was an hour and a half after receiving the board in the post.

    [ame=""]YouTube - Lexapod with micromagic p.Brain[/ame]
    [ame=""]YouTube - Lexapod p.Brain translation and rotation[/ame]
    and these 2 are after some fine tuning and learning on my part.

    Lexapod was built using a dremel with a few attachments. All the parts are hand designed and cut. Much advice has been received (and mostly listened to) as Lex has grown so thanks to all who've contributed..
    Last edited by Adrenalynn; 08-10-2008 at 12:00 PM. Reason: Second large image breaking page formatting. I reattached for you using goldbrick media manager. -A

  2. #2
    Join Date
    Jan 2008
    Norway, Stavanger
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    Re: Lexapod

    Excellent work Paul!

    It's almost hard to believe that you handcut them with a dremel! Wow! You are showing outstanding skills for sure. Also very impressive was your work with your own code and vision system.

  3. #3
    Join Date
    Jan 2008
    Montreal, Canada
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    Re: Lexapod

    That's very nice work!

    I didn't manage to look at all the videos yet, my web browser sometimes doesn't make the videos appear. I will have to looks into it, but meanwhile what I saw was wonderfull.


  4. #4
    Join Date
    Apr 2008
    Sacramento, CA, USA Area
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    Re: Lexapod

    That's insanely cool for dremel work! Grats, and welcome to the TRC!

    [I edited your message, the really large photo was breaking page formatting. The thumbnails are clickable to show medium size on the first click, full size in new window on the second click]
    I Void Warranties´┐Ż

  5. #5
    Join Date
    Sep 2007
    Weedsport NY
    Rep Power

    Re: Lexapod

    Excellent work!

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