Some of you know me from the Trossen Chat. I've been part of SocietyOfRobots.com for years. I'm an RL buddy of cire
I'm working on my own quadruped, eventually for Mech Warfare. This quad is named Numa. Numa was the second of the ancient Roman kings... and so I can use royalty as an excuse to make a purple bot (e.g. I will eventually dye the brackets purple). And yes, I'm aware of the fat-guy video for Ozone's song, Dragostea Din Tei. I don't mind if you choose to associate the name with that
Hardware specs of Numa:
-4DOF per leg
-16 AX-12a servos in the legs
-Tristate buffer allows Axon to control the dynamixel servos. (Has purple LED to indicate that servos have power!)
-Can use either Xbee 1.25 mW communication, or serial port communication (Using the Parallax SIP xbee adapter on the robot side)
-11.1 V LiPo battery for servos, 9V NiMh battery for Axon. TBD how I will power camera and guns.
-Using dremel, power switches for Axon power, LiPo power, and DC power supply power are integrated into standard Dynamixel brackets
Obviously I'm shooting for a very similar robot to Immortal, but figuring it out with my own hardware configuration.
-Axon runs my own code created with the modules/etc. from Webbotlib
-Webbot's GaitDesigner format is used for gaits
-I generate my gaits in this format using Mathematica to do the IK calculations. Using its visualization tools is awesome for verifying what my code actually does.
-I will be using VB.Net (Unless I learn a new GUI making tool in the near future) to make my own user interface. Input will quite probably use one of these for awesome points.
-I may eventually have the IK be calculated on the axon, but for now I'm still familiarizing myself with the best ways to do this.
-Beginning of May: Started ordering parts.
-Mid May: Made tristate buffer and was finally able to control servos
-June 12: Finally got the bugs out of my Mathematica code and correctly have my robot walking forwards/backwards
-June 17: successful remote control of walking with xbee link.
Stuff to do/determine
-Give the feet more traction
-How I will move camera/etc. (e.g. I'd save weight by using hobby servos for pan/tilt)
-Optimize the gaits for speed and balance
-Make compensating for changes in center of mass easier
-How to tie the gaits together to do more complicated walking
-Design custom body to nicely integrate all of the parts
-Order the usual Trendnet wireless camera
And now some pictures!:
This pic is a few weeks old, but the body is essentially the same. Switches and accessories have been swapped/added in the mean time.
Animation of top down view of forward walking via Mathematica
Animation of leg movements via Mathematica
The servos' battery and its power connector. I like epoxy.
Combo mutant mount: Axon switch, serial connection interface, and xbee on a parallax adapter.
Axon and tristate buffer are mounted together on a spring-loaded hinged plastic container. The container was the box for a ring.
Another pic of same:
9V battery holder is masking tape + velcro. Real chassis will be nice to have.