I finally started assembling Issy2 yesterday. It's not 3 weeks to RoboGames, but I figured I'd get a bit of a head start this time around (Robogames is just about 4 months away, so I have like 5X as much time to build Issy2 as I had to build Issy!). The body is now assembled, I'll be adding mech gear over the coming weeks.
Issy2 isn't all that different from IssyDunnYet, most of the changes are in software. Changes for this year include:
I'm not entirely sure what his firepower and upper body will look like. I've got a hacked defender sitting on the desk, but I may end up using 2 tank guns instead.
- Bigger body, IssyDunnYet was just too small to fit those target plates on easily, it limited his range of motion. The body this year is about 6" long and 5" wide.
- Back to 3DOF legs. Changes in software make this possible. Issy2 has a full IK solution, and is doing interpolation in the ArbotiX, thus the servos get full power (Last year, I was effectively running my servos at 1/3-1/2 power due to a mis-understanding of the internal AX-12 software).
- With IK, and the gait engine, I'm hoping to double Issy's burst and turning speeds over last year.
- Better software for the Trendnet camera is a priority. I was using a very poor frame grabber last year, which caused some interesting side effects.
- Better fine grained control. This is probably the most important part, especially for targeting.
- If time allows, implement fly-by-wire. I envision a number of Sharp IR sensors helping Issy2 avoid obstacles.
Here's a video of Issy2 walking around, no mech gear yet though: