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Thread: Archer- Zenta's first biped

  1. #31
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    Re: Archer- Zenta's first biped

    Since I'm entering Archer to the contest I'll update the first post with much more information (all videos, material list, pictures and code) about this project. (Work in progress)

    Yesterday evening I made a new workshop video for demonstrating some progress on Archer. Body Yaw Rotation, single leg mode and more walking. Also a short demo of a new gait pattern for Phoenix (Triple gait).



    Inspired by Jonny's work on his latest biped I decided to replace the short and simple femur on Archer with a ASB-10 (long C) + ASB-11 (offset) brackets. I do like this combination of brackets as a femur part for a hexapod (like T-hex) and here as the femur part for a biped. By using these brackets the legs got much more freedom, the ankle and the hip joint can almost touch each-other:



    Another picture while Archer do a "single-leg" movement and holding the position, you can clearly see the good ground clearance:



    Archer standing much taler than before:



    So far I'm very impressed by the servos, after about 8 minutes of walking and body movement the servos doesn't even get hot! :shock: They are not cold of course, but they seem to handle the load pretty well.
    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  2. #32
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    Re: Archer- Zenta's first biped

    When I see all of the incredible things you have done and are doing I am awed. You do amazing things. Keep up the great and inspiring work.

    DB

  3. #33
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    Re: Archer- Zenta's first biped

    Thanks DB!

    I'm glad you liked it.
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  4. #34
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    Re: Archer- Zenta's first biped

    Your projects really are amazing. I need you to do my coding, haha.

  5. #35
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    First code release

    Hi,

    I've not had time to work more with the Archer code. There is still some "cleaning" and tuning to do but the code work pretty good though. So I've decided to share the code. The code is based on Xan's V2.0 code and Kurt's ARC-32 code version.

    The two parts I did spent some time to write and modify is the IK and the gait part.

    This is the gait code:
    Code:
    GaitSelect
      ;Gait selector
      IF (GaitType = 0) THEN ;9 step Biped gait, Note: Half Walking cycle!
    	'GaitLegNr(cRightLeg) = 1
    	'GaitLegNr(cLeftLeg) = 8	
    		  	    
    	'NrLiftedPos = 1
    	HalfLiftHeigth = 1
    	LiftedMiddlePos = 5	
    	TLDivFactor = 13
    	StepsInGait = 9
    	NomGaitSpeed = 60
      ENDIF  
        
    return
    ;--------------------------------------------------------------------
    ;[GAIT Sequence]
    GaitSeq
       ;Check IF the Gait is in motion
      GaitInMotion = ((ABS(TravelLengthX)>cTravelDeadZone) | (ABS(TravelLengthZ)>cTravelDeadZone) | (ABS(TravelRotationY)>cTravelDeadZone) )
      
      ;Don't cycle the gait while not walking:
      IF NOT Walking Then 
        GaitStep = 1 'Keep it to the first step until leg start walking again  
        ;Decide what leg to set active before start walking after standing still:
        IF TravelRotationY > cTravelDeadZone THEN ;The robot are commanded to walk and turn left
          ActiveLeg = cRightLeg ; This means that the left leg are going to be lifted first
        ELSEIF TravelRotationY < -cTravelDeadZone
          ActiveLeg = cLeftLeg ; This means that the right leg are going to be lifted first
        ENDIF
        ;Same method as for the TravelRotationY, but making sure that sidewalking has higher priority then TravelRotation by placing the code after:
        IF TravelLengthX > cTravelDeadZone THEN ;The robot are commanded to sidewalk to the left
          ActiveLeg = cRightLeg ; This means that the left leg are going to be lifted first
        ELSEIF TravelLengthX < -cTravelDeadZone
          ActiveLeg = cLeftLeg
        ENDIF
      ENDIF
      
      ;Calculate Gait sequence
      LastLeg = 0
      for LegIndex = 0 to 1 ; for all legs
      
        if LegIndex = 1 then ; last leg
          LastLeg = 1 
        endif 
        
        GOSUB BipedGAIT [LegIndex] 
      next	; next leg
    return
    ;--------------------------------------------------------------------
    ;[BipedGAIT], Half walk Cycle !
    ; Note: The first and the last GaitStep are used for shifting COG (SC), both leg (feet) are also on ground and walking while SC
    BipedGAIT [GaitCurrentLegNr]
      
      ;Clear values under the cTravelDeadZone
      IF (GaitInMotion=0) THEN
        TravelLengthX=0
        TravelLengthZ=0
        TravelRotationY=0
      ENDIF
      
      ;Prevent that the feet crashes into eachother while doing sidewalking:
      ;The robot are commanded to sidewalk to the right and the opposite leg (now the left leg) are the active leg: 
      IF (TravelLengthX > cMaxOppositeTravel) AND (ActiveLeg = cLeftLeg) THEN
        TravelLengthX = cMaxOppositeTravel
        
      ELSEIF (TravelLengthX < -cMaxOppositeTravel) AND (ActiveLeg = cRightLeg)
        TravelLengthX = -cMaxOppositeTravel
      ENDIF  
      
      IF ActiveLeg = GaitCurrentLegNr THEN 'Is this leg the active walking leg?
      	IF ((GaitStep = 1) or (GaitStep = 2)) THEN 'SC towards the active leg + Walk
        	'Shift COG routine here:
        	IF ActiveLeg = cRightLeg THEN
          	  'Shift COG over to the right leg:
          	  CogShifterAngle1 = -cSliderHalfMaxMinDeg * GaitStep
          	  SCBodyPosX = -CogShifterAngle1/cSCBPX 'just for testing.. 
        	ELSE
          	  'Shift COG over to the left leg:
          	  CogShifterAngle1 = cSliderHalfMaxMinDeg * GaitStep
          	  SCBodyPosX = -CogShifterAngle1/cSCBPX 'just for testing.. 
        	ENDIF
        	'Call walk sub
        	GOSUB WalkInDirection [GaitCurrentLegNr]
        ELSEIF ((GaitStep = StepsInGait) or (GaitStep = (StepsInGait-1))) 'SC towards the passive leg + Walk
        	'Shift COG routine here:
        	IF ActiveLeg = cRightLeg THEN
          	  'Shift COG over to the left leg:
          	  CogShifterAngle1 = -cSliderHalfMaxMinDeg * (StepsInGait - GaitStep + 1) ;GaitStep = (StepsInGait-1) => cSliderHalfMaxMinDeg*2
          	  SCBodyPosX = -CogShifterAngle1/cSCBPX 'just for testing..  
        	ELSE
          	  'Shift COG over to the right leg:
          	  CogShifterAngle1 = cSliderHalfMaxMinDeg * (StepsInGait - GaitStep + 1)
          	  SCBodyPosX = -CogShifterAngle1/cSCBPX 'just for testing.. 
        	ENDIF
        	'Call walk sub
        	GOSUB WalkInDirection [GaitCurrentLegNr]
        ELSE ' Walking only:
        	'Call walk sub
        	GOSUB WalkInDirection [GaitCurrentLegNr]
      	ENDIF
    
      ELSE 'The current leg is not the active, its moving into the lifting state:
      	CompLiftToe = FALSE ; Reset
        IF ((GaitStep = 1) or (GaitStep = 2) or (GaitStep = StepsInGait) or (GaitStep = (StepsInGait-1))) THEN
          'Call walk sub only
          GOSUB WalkInDirection [GaitCurrentLegNr]
          GearSlopON = False 'don't compensate
        ELSE 'Lifting state, lift leg and move it towards the walking direction:
          ;At this moment the gait is not very universal...
          GearSlopON = True 'compensate for gear slop / gear backlash
          IF (GaitStep = (LiftedMiddlePos-2)) & GaitInMotion THEN
            GaitPosX(GaitCurrentLegNr) = -TravelLengthX/2
          	GaitPosY(GaitCurrentLegNr) = -LegLiftHeight/(HalfLiftHeigth+1)
          	GaitPosZ(GaitCurrentLegNr) = -TravelLengthZ/2
          	GaitRotY(GaitCurrentLegNr) = -TravelRotationY/2
          	
          ELSEIF (GaitStep = (LiftedMiddlePos-1)) & GaitInMotion
            GaitPosX(GaitCurrentLegNr) = -TravelLengthX/4
          	GaitPosY(GaitCurrentLegNr) = -LegLiftHeight
          	GaitPosZ(GaitCurrentLegNr) = -TravelLengthZ/4
          	GaitRotY(GaitCurrentLegNr) = -TravelRotationY/4
          	
          	;Leg middle up position:
      	    ;Gait in motion					   					| Gait NOT in motion, return to home position:
          ELSEIF ((GaitInMotion & (GaitStep = LiftedMiddlePos)) | (NOT GaitInMotion & GaitStep=LiftedMiddlePos & ((ABS(GaitPosX(GaitCurrentLegNr))>2) | (ABS(GaitPosZ(GaitCurrentLegNr))>2) | (ABS(GaitRotY(GaitCurrentLegNr))>2))))
            GaitPosX(GaitCurrentLegNr) = 0
        	GaitPosY(GaitCurrentLegNr) = -LegLiftHeight
        	GaitPosZ(GaitCurrentLegNr) = 0
        	GaitRotY(GaitCurrentLegNr) = 0
        	
          ELSEIF (GaitStep = (LiftedMiddlePos+1)) & GaitInMotion
            GaitPosX(GaitCurrentLegNr) = TravelLengthX/4
          	GaitPosY(GaitCurrentLegNr) = -LegLiftHeight
          	GaitPosZ(GaitCurrentLegNr) = TravelLengthZ/4
          	GaitRotY(GaitCurrentLegNr) = TravelRotationY/4
          	IF TravelLengthZ <-cTravelDeadZone THEN 'Only comp while walking forward
          	  CompLiftToe = TRUE
          	ENDIF
          	;Leg front down position:
          ELSEIF (GaitStep = (LiftedMiddlePos+2))& (GaitPosY(GaitCurrentLegNr)<0)
            GaitPosX(GaitCurrentLegNr) = TravelLengthX/2
          	GaitPosY(GaitCurrentLegNr) = -LegLiftHeight/(HalfLiftHeigth+1)
          	GaitPosZ(GaitCurrentLegNr) = TravelLengthZ/2
          	GaitRotY(GaitCurrentLegNr) = TravelRotationY/2
          	IF TravelLengthZ <-cTravelDeadZone THEN
          	  CompLiftToe = TRUE
          	ENDIF
          ENDIF 
        ENDIF
      ENDIF
      
      IF NOT Walking THEN 'this must be improved and integrated to the gait cycle better
        CogShifterAngle1 = 0
        SCBodyPosX = 0
      ENDIF
      
      ;Advance to the next step
      IF LastLeg THEN	;The last leg in this step
        GaitStep = GaitStep+1
        IF GaitStep>StepsInGait THEN
          GaitStep = 1
          IF ActiveLeg = cRightLeg THEN 'At the end of a half walkcycle toogle active leg
            ActiveLeg = cLeftLeg
          ELSE
            ActiveLeg = cRightLeg
          ENDIF
        ENDIF
      ENDIF
      #ifdef debugGait
      if GaitCurrentLegNr = cLeftLeg then
    	hserout ["Step#:",dec GaitStep," WalkingState:", dec Walking," GaitInMotion:", dec GaitInMotion,  " ActiveLeg (0=R):", dec ActiveLeg, " TLX:", sdec TravelLengthX,|
    	 " GaitPosX:", sdec GaitPosX(GaitCurrentLegNr)  , 13]
      endif	
    	
      #endif
      
    return
    ;--------------------------------------------------------------------
    ;[WalkInDirection] a part of the gait routine
    WalkInDirection [GaitCurrentLegNr]
      GaitPosX(GaitCurrentLegNr) = GaitPosX(GaitCurrentLegNr) - (TravelLengthX/TLDivFactor)     
      GaitPosY(GaitCurrentLegNr) = 0  
      GaitPosZ(GaitCurrentLegNr) = GaitPosZ(GaitCurrentLegNr) - (TravelLengthZ/TLDivFactor)
      GaitRotY(GaitCurrentLegNr) = GaitRotY(GaitCurrentLegNr) - (TravelRotationY/TLDivFactor)
    return
    ---

    For adding the 6.DOF (HipYaw rotation) I'm doing a local rotation that compensate for the HipYaw servo. In the main loop I'm also calling the local Yaw rotation (GOSUB RotateLeg()):
    Code:
    ;Do IK for all Right legs
      LegIndex = cRightLeg	
    	  GOSUB BodyIK [-LegPosX(LegIndex)+BodyPosX+SCBodyPosX+GaitPosX(LegIndex) - TotalTransX, |
    	  				 LegPosZ(LegIndex)+BodyPosZ+GaitPosZ(LegIndex) - TotalTransZ, |
    	  				 LegPosY(LegIndex)+BodyPosY+GaitPosY(LegIndex) - TotalTransY, |
    	  				 GaitRotY(LegIndex), LegIndex] 
    	  				 
    	  GOSUB RotateLeg [-LegPosX(LegIndex)+BodyPosX+SCBodyPosX+GaitPosX(LegIndex) - TotalTransX, |
    	  				 LegPosZ(LegIndex)+BodyPosZ+GaitPosZ(LegIndex) - TotalTransZ, GaitRotY(LegIndex)]
    	  				 
    	  GOSUB LegIK [LegPosX(LegIndex)-BodyPosX-SCBodyPosX+LegRotPosX+BodyIKPosX-(GaitPosX(LegIndex) - TotalTransX), |
    	  				LegPosY(LegIndex)+BodyPosY-BodyIKPosY+GaitPosY(LegIndex) - TotalTransY, |
    	  				LegPosZ(LegIndex)+BodyPosZ-LegRotPosZ-BodyIKPosZ+GaitPosZ(LegIndex) - TotalTransZ, LegIndex]    
        
      
      ;Do IK for all Left legs  
      LegIndex = cLeftLeg	
    	  GOSUB BodyIK [LegPosX(LegIndex)-BodyPosX-SCBodyPosX+GaitPosX(LegIndex) - TotalTransX, |
    	  				LegPosZ(LegIndex)+BodyPosZ+GaitPosZ(LegIndex) - TotalTransZ, |
    	  				LegPosY(LegIndex)+BodyPosY+GaitPosY(LegIndex) - TotalTransY, |
    	  				GaitRotY(LegIndex), LegIndex] 
    	  				
    	  GOSUB RotateLeg [LegPosX(LegIndex)+BodyPosX+SCBodyPosX+GaitPosX(LegIndex) - TotalTransX, |
    	  				 LegPosZ(LegIndex)+BodyPosZ+GaitPosZ(LegIndex) - TotalTransZ, GaitRotY(LegIndex)]
    	  				 	  				
    	  GOSUB LegIK [LegPosX(LegIndex)+BodyPosX+SCBodyPosX-LegRotPosX-BodyIKPosX+GaitPosX(LegIndex) - TotalTransX, |
    	  				LegPosY(LegIndex)+BodyPosY-BodyIKPosY+GaitPosY(LegIndex) - TotalTransY, |
    	  				LegPosZ(LegIndex)+BodyPosZ-LegRotPosZ-BodyIKPosZ+GaitPosZ(LegIndex) - TotalTransZ, LegIndex]
    This is the local rotation and the modified IK part:
    Code:
    ;[Local Leg Rotation] YAW rotate only, compensate for hip rotation
    RotateLeg [PosX, PosZ, RotationY] 
    
      ;Calculating totals from center of the body to the feet 
      CPR_X = PosX 
      CPR_Z = PosZ
      
      ;Successive global rotation matrix: 
      ;Math shorts for rotation: Alfa (A) = Xrotate, Beta (B) = Zrotate, Gamma (G) = Yrotate 
      ;Sinus Alfa = sinA, cosinus Alfa = cosA. and so on... 
      
      ;First calculate sinus and cosinus for Y rotation: 
       
      GOSUB GetSinCos [-BodyRotY1-(RotationY*c1DEC)] 
      SinA4 = Sin4
      CosA4 = Cos4
    
      ;Calcualtion of rotation matrix:
      ;Y rotation only (Yaw) 
      ;LegRotPosX = (CPR_X- (CPR_X*CosA - CPR_Z*SinA))
      ;LegRotPosZ = (CPR_Z- (CPR_X*SinA + CPR_Z*CosA))
      
      LegRotPosX = (CPR_X*c2DEC - ( CPR_X*c2DEC*CosA4/c4DEC - CPR_Z*c2DEC*SinA4/c4DEC))/c2DEC
      LegRotPosZ = (CPR_Z*c2DEC - ( CPR_X*c2DEC*SinA4/c4DEC + CPR_Z*c2DEC*CosA4/c4DEC))/c2DEC
    
    return 
    ;--------------------------------------------------------------------
    ;[LEG INVERSE KINEMATICS] Calculates the angles of the coxa, Femur and tibia for the given position of the feet
    ;IKFeetPosX			- Input position of the Feet X
    ;IKFeetPosY			- Input position of the Feet Y
    ;IKFeetPosZ			- Input Position of the Feet Z
    ;IKSolution			- Output true IF the solution is possible
    ;IKSolutionWarning 	- Output true IF the solution is NEARLY possible
    ;IKSolutionError	- Output true IF the solution is NOT possible
    ;FemurAngle1	   	- Output Angle of Femur in degrees
    ;TibiaAngle1  	 	- Output Angle of Tibia in degrees
    ;CoxaAngle1			- Output Angle of Coxa in degrees
    LegIKLegNr var nib
    cGearSlop	con 50 'test value
    cToeComp	con 150
    LegIK [IKFeetPosX, IKFeetPosY, IKFeetPosZ, LegIKLegNr]
    
    	;Calculate IKCoxaAngle and IKFeetPosXZ
    	GOSUB GetATan2 [IKFeetPosX, IKFeetPosY]
    	IF GearSlopON AND (LegIKLegNr = ActiveLeg) THEN
    	 	HipRollAngle1(LegIKLegNr) = -((ATan4*180) / 3141) +900 + cGearSlop
    	ELSE
    		HipRollAngle1(LegIKLegNr) = -((ATan4*180) / 3141) +900
    	ENDIF
    	IKFeetLocalPosY = (XYHyp2/c2DEC)-cHipVertLength
    	
    	HipYawAngle1(LegIKLegNr) = BodyRotY1+(GaitRotY(LegIKLegNr)*c1DEC) ;
    		
    	;Length between the Coxa and tars (foot)
    	;IKFeetPosXZ = XYhyp2/c2DEC
    	
    	;Using GetAtan2 for solving IKA1 and IKSW
    	;IKA14 - Angle between SW line and the ground in radians
    	'GOSUB GetATan2 [IKFeetPosY, IKFeetPosXZ-cCoxaLength], IKA14
    	GOSUB GetArcTan2 [IKFeetPosZ, IKFeetLocalPosY], IKA14 'from felix float
    	'GOSUB GetATan2 [IKFeetPosZ, IKFeetLocalPosY], IKA14
    	;IKSW2 - Length between Femur axis and tars
    	'IKSW2 = XYhyp2
    	IKSW2 = SQR((((IKFeetPosZ)*(IKFeetPosZ))+(IKFeetLocalPosY*IKFeetLocalPosY))*c4DEC)
    
    	
    	;IKA2 - Angle of the line S>W with respect to the Femur in radians
    	Temp1 = (((cFemurLength*cFemurLength) - (cTibiaLength*cTibiaLength))*c4DEC + (IKSW2*IKSW2))
    	Temp2 = ((2*cFemurlength)*c2DEC * IKSW2)
    	GOSUB GetArcCos [Temp1 / (Temp2/c4DEC) ], IKA24	
    
     
    	
    	;IKFemurAngle
    	FemurAngle1(LegIKLegNr) = -(IKA14 + IKA24) * 180 / 3141 + 900 -cFemurOffset
    
    	;IKTibiaAngle
    	Temp1 = (((cFemurLength*cFemurLength) + (cTibiaLength*cTibiaLength))*c4DEC - (IKSW2*IKSW2))
    	Temp2 = (2*cFemurlength*cTibiaLength)
    	GOSUB GetArcCos [Temp1 / Temp2]
    
    	TibiaAngle1(LegIKLegNr) = -(900-AngleRad4*180/3141)
    	
    	;AnklePitchAngle
    	IF (CompLiftToe AND NOT(LegIKLegNr = ActiveLeg)) THEN
    	  AnklePitchAngle1(LegIKLegNr) = FemurAngle1(LegIKLegNr) - TibiaAngle1(LegIKLegNr) -cAnklePitchOffset + cFemurOffset - BodyRotX1 - cToeComp/(1+SingelLegModeOn) ;Do half ToeComp in single leg mode
    	  'high cBattLED' visual debugging
    	ELSE
    	  AnklePitchAngle1(LegIKLegNr) = FemurAngle1(LegIKLegNr) - TibiaAngle1(LegIKLegNr) -cAnklePitchOffset + cFemurOffset - BodyRotX1
    	  'low cBattLED
    	ENDIF
    	;AnkleRollAngle
    	IF GearSlopON AND (LegIKLegNr = ActiveLeg) THEN
    		IF LegIKLegNr = cRightLeg then
    			AnkleRollAngle1(LegIKLegNr) = -HipRollAngle1(LegIKLegNr)+ 2*cGearSlop - BodyRotZ1
    		ELSE
    			AnkleRollAngle1(LegIKLegNr) = -HipRollAngle1(LegIKLegNr)+ 2*cGearSlop + BodyRotZ1
    		ENDIF
    	ELSE
    		IF LegIKLegNr = cRightLeg then
    			AnkleRollAngle1(LegIKLegNr) = -HipRollAngle1(LegIKLegNr) - BodyRotZ1
    		ELSE
    			AnkleRollAngle1(LegIKLegNr) = -HipRollAngle1(LegIKLegNr) + BodyRotZ1
    		ENDIF
    	ENDIF
    	;Set the Solution quality	
    	IF(IKSW2 < (cFemurLength+cTibiaLength-30)*c2DEC) THEN
    		IKSolution = 1
    	ELSE
    		IF(IKSW2 < (cFemurLength+cTibiaLength)*c2DEC) THEN
    			IKSolutionWarning = 1
    		ELSE
    			IKSolutionError = 1	
    		ENDIF
    	ENDIF
    	
    
    return
    I'm sorry for the lack of comments and explanations. Its just that my brain is occupied with a lot of family stuff (we are waiting our 3. son in the beginning of December) and my current secret project involving 31 servos (12x5990 + 19x5645). But I do hope some of you find this stuff useful.
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  6. #36
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    Re: Archer- Zenta's first biped

    Zenta, i am always in aww at what you do, omg i wish i could code like you lol, just amazing what you do. love following your projects. just getting back into it after 14 months off. :-)
    People yearn after this robotic dream, but you can't strip your life of all meaning, emotion and feeling and expect to function.


  7. #37
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    Re: Archer- Zenta's first biped

    Quote Originally Posted by 4mem8 View Post
    Zenta, i am always in aww at what you do, omg i wish i could code like you lol, just amazing what you do. love following your projects. just getting back into it after 14 months off. :-)
    Thanks for your comment! Good to see your back again!
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  8. #38
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    Re: Archer- Zenta's first biped

    yes thank you Zenta, looking fwd to getting into the building again. unfortunately i am using the sc32 and atom pro28 in the 6dof scout so looks like your code is only for the ARC32 am i correct? and your secret next project omg 31 servos knowing you it will be awesome Zenta:-) lol. the coding for ll those servos omg .
    People yearn after this robotic dream, but you can't strip your life of all meaning, emotion and feeling and expect to function.


  9. #39
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    Lightbulb Re: First code release

    Quote Originally Posted by Zenta View Post
    I'm sorry for the lack of comments and explanations. Its just that my brain is occupied with a lot of family stuff (we are waiting our 3. son in the beginning of December) and my current secret project involving 31 servos (12x5990 + 19x5645). But I do hope some of you find this stuff useful.
    Hmmm, 31 servos. I am thinking full humanoid?
    Yours,
    SA

    This line has been tagged for redundancy.

  10. #40
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    Re: First code release

    Quote Originally Posted by SteamAutomaton View Post
    Hmmm, 31 servos. I am thinking full humanoid?
    No, that's the MorpHex project.
    But, yes I would really like to try a full humanoid one day.
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

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