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Thread: Meet Hi No Hikari

  1. #31
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    Thumbs up Re: Meet Hi No Hikari

    Quote Originally Posted by darkback2 View Post


    DB
    I know you're using clean aluminum, but this shot makes it look like old rusty steel. I like that effect! Awesome work, DB!

  2. #32
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    Re: Meet Hi No Hikari

    Great looking bot DB. Looking forward to seeing some more videos.

    How about using brackets similar to the these to attach the the butt to butt servos in each each leg segment to save some weight? Would remove the need of the four large brackets you have now.

  3. #33
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    Re: Meet Hi No Hikari

    Thanks for the kind words and advice everyone. I'm pretty convinced hitting the 2kg mark is out of the question for this guy. The good news is over the next two years I can upgrade all of the servos to AX-18Fs. In the second one which I hope to have done by christmas, I'll start out with AX-18fs for the ankles and hips. For now the AX-12s will have to do for the legs.

    Spent the evening coming up with some moves. I'll get the side steps pretty soon, turning seams to work, and I even have a face down get up sequence. After recording the video I made a back down roll over sequence. This was actually relatively hard given how wide this bot is. With the arms she is 10 inches at the shoulder.



    DB
    Last edited by darkback2; 10-23-2010 at 03:44 AM. Reason: I made more sequences after I posted.

  4. #34
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    Re: Meet Hi No Hikari



    So I've been working over the past few days trying to make Hi No Hikari more stable, and to increase her range of movements. I'm still not at all happy with my forward walk. It is more of a shuffle, and it isn't very good because she tends to go in a circle to the right.

    I am running up against the limitations of the servos. Thermal shut down happens after about 6 minutes of use, and I can't let the legs get too far apart. I'm also trying to incorporate bouncing to help with motions. Seams like it is working well for side stepping, but it makes moving around a bit slower because the robot has to prep for a jump before each move.

    I don't think this current inception will ever qualify for robo-one, but she can get up from both face down and face up.

    Any suggestions on the walking gate are welcome.

    Thanks.

    DB

  5. #35
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    Re: Meet Hi No Hikari

    If youre running into overheating try bending the knees less. Also, your forward walking gait doesnt even appear to be lifting the legs off the ground at all. A 'shuffle' gait as you see most humanoid kung fu fighters doing will actually still lift the foot off the ground, it's just very slight and quick. Lessening your hip distance will help with lifting the legs.
    Andrew Dresner
    Principal Engineer
    Interbotix GIthub
    Interbotix Labs Google+

  6. #36
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    Re: Meet Hi No Hikari

    Thanks for the help Tybes.

    I am going to try rewriting the walking/leaning poses from scratch this afternoon. I was going for more of a shuffle than a walk, but I do need to actually lift the feet in order to qualify for Robo-one styled fighting. I am hoping if things work out that I can simply transfer the gates over to a stronger RX-28/24F based PLM bot in the future.

    Center to center the hips are 9 cm apart. When standing upright the feet are 1 cm apart. Should I go for narrower feet? When I moved them closer they got caught up on each other.

    Now that I look at it, most of everyone else's feet stick out to the outside.

    DB

  7. #37
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    Re: Meet Hi No Hikari

    So I shot a video of Hikari walking for trouble shooting purposes yesterday, but ended up not needing it because Tybes pointed out a big part of what I was doing wrong. I still can't get her to lift a leg without falling over sideways when the walking gets faster, but things are going a lot smoother now.


  8. Re: Meet Hi No Hikari

    I posted a comment to your vid. Your gait looks almost fine. You just need to speed up everything by 3x. Also remove the pause in between moves.

  9. #39
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    Re: Meet Hi No Hikari

    Quote Originally Posted by darkback2 View Post
    So I shot a video of Hikari walking for trouble shooting purposes yesterday, but ended up not needing it because Tybes pointed out a big part of what I was doing wrong. I still can't get her to lift a leg without falling over sideways when the walking gets faster, but things are going a lot smoother now.

    You need to speed things up considerably, shuffle gaits are usually pretty fast. Also keep in mind that a shuffle gait doesn't mean you can't lift your feet up off the ground, you actually have to lift them otherwise they'll just drag and cause you to veer off course. Again, if you're running into overheating, don't walk with such a bent-knee default position.

    Feet should have a lot more width on the outside than on the inside, actually the most recent feet I've made only have enough room to mount the servo on the inside edge, the rest of the width protrudes outward.
    Andrew Dresner
    Principal Engineer
    Interbotix GIthub
    Interbotix Labs Google+

  10. #40
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    Re: Meet Hi No Hikari



    So its 1995 and the movie strange days comes out. I'm instantly in love with the idea of recording memories. A few years later I'm at CalArts, and I watch a guy named David Rosenboom controlling a computer playing music using an EEG device. Fast foward to about 3 years ago. I've been making robots for a while when I stumble across a device that has the potential to allow me to control a robot using my mind.

    Ok, so that was two years ago, and really I have had about 2 years of frustration. There was the long wait after ordering the device, and when it finally got here I was pretty much un-able to get it to do anything. It sat on my shelf collecting dust for a long time after that.



    A few months ago I stumbled across a really lame anime series Angelic Layer. In the series people use mind controllers to control robot dolls that fight in an arena. That sort of sparked renewed interest on my part. Hopefully at some point I'll be better able to control Hikari using the Emotiv Epoc

    I need to edit the code so that it plays the whole sequence every time the key is pressed. At current the key has to be held and it loops through the sequence. Any help would be appreciated.

    Here is the code:
    Code:
    #include <ax12.h>
    #include <BioloidController.h>
    #include "iPose01.h"  // exported from PyPose
    
    BioloidController bioloid = BioloidController(1000000);
    
    void setup()
    {  
        // need to start the serial port
        Serial.begin(38400);
    
        // recommended pause
        delay(1000);
    
        // stand up slowly    
        bioloid.loadPose(Up);
        bioloid.readPose();
        bioloid.interpolateSetup(500);
        
        while(bioloid.interpolating > 0)
        {
            bioloid.interpolateStep();
            delay(3);
        }
    }
    
    void loop()
    {
        // check for new messages over the serial port
        int x = Serial.read()
        ;
        if( x >= 0 )
        {   
            // toggle LED so we know johnny5 is alive
            digitalWrite(0,HIGH-digitalRead(0));
        
            // only process if we aren't currently doing a sequence
            if(bioloid.playing == 0)
            {               
                if(x== 'w') //if I press w walk forward
                {
                    bioloid.playSeq(LRLean);
                }
                else if(x== 's') //if I press s stop moving
                {
                    bioloid.playSeq(UP);    
                }
                else if(x== 'x') //if I press s stop moving
                {
                    bioloid.loadPose(Rest01);    
                }
                else if(x== 'g') //if I press s get up
                {
                    bioloid.playSeq(facedown);    
                }
                else if(x== 'q') //if I press q turn left
                {
                    bioloid.playSeq(LeftTurn);    
                }
                else if(x== 'a') //if I press a sidestep left
                {
                    bioloid.playSeq(SideLT);    
                }
                else if(x== 'e') //if I press e turn right
                {
                    bioloid.playSeq(RightTurn);    
                }
                else if(x== 'd')//if I press d sidestep right
                {
                    bioloid.playSeq(SideRT);
                }
          
                else if(x== 'j') //if I press j attack left
                {
                    bioloid.playSeq(LA); 
                }
          
                else if(x== 'l') //if I press l attack right
                {
                    bioloid.playSeq(RA);
                }
                else if(x== 'k') //if I press k right punch
                {
                    bioloid.playSeq(RightPunch);
                }
            } 
        
        if(bioloid.playing > 0)
        {
            // continue sequence
            bioloid.play();  
        }
      
    }
    }
    Last edited by darkback2; 11-21-2010 at 06:28 PM.

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