Meet Hi No Hikari

[UncleBob]

How you cut the parts and replicate it? If you in my area I would help you get some cool walking gait.

[darkback2]

Hey Uncle Bob

I start out by drawing all of the parts using turbocad. I draw them flat leaving 2mm between each side which gets lost in the bend. I glue the paper print out onto sheet metal using rubber cement. I used to use spray on adhesive, but rubber cement peels off cleanly without having to use solvent.

Then I cut the parts out using a band saw. I use a fine tooth metal blade.

I drill all of the holes as marked on the paper and sand the edges with an angle grinder with a sanding wheel on it.

Finally I use a vice and sheet metal pliers to bend the metal. I finish the bends with a flat hammer.

With the second Hikari I used an orbital sander to scuff the metal which also hides the hammer marks.

I made a tutorial about how I do it.

As for help making walking gates, I live in Washington State in the US. I have used some of your tutorials to try to get things working. Any further help would be greatly appreciated.

DB

[elaughlin]

Ahhh robotics friends all over the world coming together right here on the Trossen Forum.

Really like Hikari so far DB. I also think its awesome that family members want to purchase your works! Mine just looks at me strangely. Keep it up sir. Can't wait to see your bots at Mech Warfare.

Also wanted to add - I saw your tutorial a long time about about cutting out sheet metal pieces. I used it to cut out my small brackets, just tweaked it a little bit. I don't know what the cost of spray adhesive is or the rubber cement, but for about 10$ I bought a package of peel and stick paper from staples. I printed out my designs onto that paper, peeled off the back and stuck it on the sheet metal. There was some residue when taking it off in the end, but just water and a little soap took it off easily.

[darkback2]

So the good news is I managed to finish cutting out and fitting the parts for Hi No Hikari's Twin.


I also have an Arbotix Commander that I plan to run with this one. That way it won't require a computer and all the other good stuff in order to make it work. Here is the code I came up with with a lot of help from Fergs. I had trouble getting it going, but with Ferg's help I got it running. Turns out I forgot to start the serial port. The code posted works like a charm.

#include <ax12.h>
#include <BioloidController.h>
#include <Commander.h>
#include "iPose01.h"  // exported from PyPose

BioloidController bioloid = BioloidController(1000000);
Commander command = Commander();

void setup(){
    
  //open the serial port 
  command.begin(38400);
  // stand up slowly
    delay(100);                    // recommended pause
    bioloid.loadPose(Up);
    bioloid.readPose();
    bioloid.interpolateSetup(500);
    while(bioloid.interpolating > 0){
        bioloid.interpolateStep();
        delay(3);
    }
}

void loop(){
  if(command.ReadMsgs() > 0){               // check for new messages
    digitalWrite(0,HIGH-digitalRead(0));    // toggle LED so we know johnny5 is alive
    if(bioloid.playing == 0){               // only process if we aren't currently doing a sequence
      if(command.walkV > 50){
        // walk forward
        bioloid.playSeq(WalkForward03);
      }else if(command.walkV < -50){
        // walk backwards
        bioloid.playSeq(rest01);
      }else if(command.walkH > 50){
        // turn left
        bioloid.playSeq(SideLT);    
      }else if(command.walkH < -50){
        // turn right
        bioloid.playSeq(SideRT);
      }else if(command.lookH > 50){
        // turn right
        bioloid.playSeq(LeftTurn);
      }else if(command.lookH < -50){
        // turn right
        bioloid.playSeq(RightTurn);
        //Here go the button commands
      }if(command.buttons&BUT_R1) {
        // right punch
        bioloid.playSeq(RightPunch); 
    }if(command.buttons&BUT_R2) {
      //Front Attack
        bioloid.playSeq(FFrontAttack); 
    }if(command.buttons&BUT_R3) {
      //Drop down and punch
        bioloid.playSeq(RestPunchCombo); 
    }if(command.buttons&BUT_L6) {
      //Soccer Kick
        bioloid.playSeq(RightKick); 
    }if(command.buttons&BUT_L5) {
      //Get up from face down
        bioloid.playSeq(facedown); 
    }if(command.buttons&BUT_L4) {
      //Roll Over (still not working well)
        bioloid.playSeq(backtofront); 
    }if(command.buttons&BUT_RT) {
      //Right attack
        bioloid.playSeq(RA); 
    }if(command.buttons&BUT_LT) {
      //Left Attack
        bioloid.playSeq(LA); 
    }
  }
  }// end else
   
    if(bioloid.playing > 0)  { 
      bioloid.play(); // continue sequence
    }
  } //end loop

Not sure what is not working here.

I'm really happy with how repeatable this process has been. This is the first time I have ever gotten to rebuild the same robot. Things went together very smoothly, and I came up with a new way to route the wires so that they won't be as likely to get hooked on stuff or torn. I replicated this method with the old Hi No Hikari.

DB

[darkback2]

Spent the day coming up with image tracking software.

Its still a bit jittery, and there is some error which makes the robot get the message telling it to dance every once in a while. So, a lot of stuff needs tracking down. I live pretty far to the north, and the light in the room got bad pretty early. I spliced a movie of a red dot dancing around for testing purposes. Here is a screen shot.



Here is a shot of the camera mounted on Hi No Hikari. The camera is removable, so I can mount it for robocup and take it off for kung fu. In reality I sort of prefer the robot without the camera, but it fits nicely.



DB

[Stobs]

I don't know, looks kinda cool with the camrea as well - reminds me a bit of the Thor mech

[darkback2]

So I'm in the process of getting 12 RX-28s. If I can get them and at least 2 RX-24fs, then I'll make a PLM mech version of this bot...which will probably look a lot like the thor mech you posted. Will I be done on time? don't know.

DB

[darkback2]

This project, actually all of my projects suffered a minor setback 3 days ago. I managed to destroy my computer and had to start over reinstalling everything and getting it all working again. I somehow managed to back up a lot of my data, and the fact that I post quite a bit on this forum allowed me to simply copy and past a lot of the work I have done from the forum back onto my new computer. I think I've worked out the last of the kinks, and I am finally back to where I was three days ago. :-)

DB

[UncleBob]

Hikari is featured in www.tuaw.com

[darkback2]

Wow! Thanks for the heads up!

So a quick google search turned up a bunch more mentions of Hikari. oddly it is mostly on cell phone sites, and only focused on the iPad controller stuff I did. But still...cool!