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Thread: Biped Walker

  1. #1
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    Biped Walker

    Meet my current bipedal walking creation.




    No name yet.

    Stats:
    Degrees of Freedom 12 (Currently all AX-12 servos)
    Weight 1.3 Kg (~3 lbs)
    Body Frame Lynxmotion 209 Biped Torso (BT-02)
    Battery 3-cell LiPo Thunder Power RC Pro Lite 2100 mAh
    Legs Reverse-knee built out of Bioloid comprehensive kit
    Motion/IK Processor Arbotix w/ NUKE + Custom IK
    General Processor Arduino Nano 3.0 w/ GRavitech MP3-4NANO board
    Remote Control Interface Arbotix Commander v2.0
    Sensors 1 x Pololu MiniIMU-9
    1 x ACS711 Current Sensor
    1 x DS1307 Real-Time Clock
    Visual Stimuli 2 x Customized BlinkM lights for eyes
    1 x Tiny Cylon for mouth



    I purchased the Bioloid kit around December 2010 mainly because I wanted to speed up the development time on each of my robot projects. Since then I have created a few puny robotic monsters, but my goal with the Bioloid kit was to end up with a biped platform for testing and entertainment. Ok, mostly entertainment... and usually just my own. =)

    I found inspiration in a few different places, but it was Zenta`s biped Archer that got me thinking about the reverse knee design again. Tyberius` biped Hagetaka, Jon Hyland's MicroRaptor and a few obscure anime robots also helped.


    Mark I




    This version consists of Bioloid parts from the comprehensive kit, an Arbotix controller and a lithium polymer battery. This served as a good test bed to develop the inverse kinematic software needed to control the legs properly.


    Mark II




    After taking inventory of my current parts on hand I realized that I had a few things I wanted to integrate into the biped. Structural and cosmetic changes were made to the hardware along with an upgrade to the electronics.





    At this time I took the opportunity to work on a colour theme for my biped. I dyed the brackets black and gold (and melted it's feet) and then painted the canopy.

    The software is very minimal right now since I am still trying to integrate the hardware together.

    Apologies for the quality of the pictures.

    Noog

  2. #2
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    Re: Biped Walker

    I like the gold frames and ingenious use of the helo cockpit! Can't wait to see her walking!!!

  3. #3
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    Re: Biped Walker

    Hey Noog,

    Nice shoes! Looking forward to seeing more on this.

    Cheers!

  4. #4
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    Re: Biped Walker

    Build Log for Mk I:



    I originally played with the Gerwalk robot design included by Robotis in the comprehensive kit. I found that the simplicity of the hardware design made the robot easy to program and control. However, it did lack a bit of functionality that I wanted in my biped --- turning.

    Click image for larger version. 

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    I started by assembling the legs with a configuration similar to the type A and B humanoid configurations and then tweaked them a little. I wasn't planning on putting arms on the robot right away, so I knew the AX-12 servos could handle the weight load.

    Click image for larger version. 

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    For the body I used the CM5 holder box <BPF-Adaptor for the CM5>. This part was modified so that the battery pack would fit (mostly) inside the body.

    Click image for larger version. 

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    This worked out well since the Arbotix is the same size as the walls of the box. I was able to just screw down the Arbotix to the top of the CM5 holder without any modifications.



    Here is a test run of the IK routines for the legs.

  5. #5
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    Re: Biped Walker

    Quote Originally Posted by kamondelious View Post
    Hey Noog,

    Nice shoes! Looking forward to seeing more on this.

    Cheers!
    The shoes were unplanned. I had every intention of leaving the Bioloid stock feet attached for a little longer, but they were damaged during the dying process. This led me to start looking at what I could improvise with.



    Here are what the shoes looked like originally. These are Crocs for a 3 month old. Light weight, durable and hot-glueable. =) Once they got a paint job they fit with the rest of the robot a little better.



    Here is a test fit of a different pair of runners. I need to look for sweet pair high-tops in the robot`s size.

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    Re: Biped Walker

    *Insert vehement objection to crocs on a robot*

    I like the attention to looks, so far! Looking forward to seeing it run around

  7. #7
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    Re: Biped Walker

    Nice work, looks good.

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