Page 18 of 18 FirstFirst ... 81415161718
Results 171 to 174 of 174

Thread: Emissary: A Multi-Purpose Hexapod

  1. #171
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,289
    Images
    27
    Rep Power
    276

    Re: Emissary: A Multi-Purpose Hexapod

    Quote Originally Posted by Xevel View Post
    Tician's approach would be so much more fun though
    What is this... fun... you speak of?


    It was mostly just lazy, since some of the math for current 'state of the art' biped gaits makes my head really not happy. So why waste more time with my crapped-out organic computing unit trying to create a natural looking system when I can just assemble a massively complex and poorly constrained system, then do a heuristic search for something that might work. Thinking to add that extra helping of complexity to the system by using a 7+ point spline for every servos' goal angle profile. The feedback/fitness function will largely make or break the idea.

    Still not sure of specifics, but rough process: populate angle profiles -> fix profiles using physical angle limits -> penalize profiles using gait angle limits -> fix/penalize profiles using physical/gait velocity limits -> approximate joint torques at multiple instances in full-step-cycle using IMU data and angle profiles -> tweak/penalize profiles using torque limits and torque feedback/calculations -> calculate 'energy' usage of generated solution and also compare resulting trajectory, step sizes, and step frequency to the inputs. Controller needs any two of three inputs: <x,y,z,w> trajectory, left/right <x,y,z> step sizes, and step frequency.

    Sorry for this bit of dumping in your thread, but won't be worth its own thread for a while yet.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  2. #172

    Re: Emissary: A Multi-Purpose Hexapod

    Tician, maybe you could use a game physics engine like ODE or Bullet or PhysX for that evolution? Might make it run faster.

  3. #173
    Join Date
    Feb 2012
    Location
    Sydney, Australia
    Posts
    364
    Rep Power
    34

    Re: Emissary: A Multi-Purpose Hexapod

    Quote Originally Posted by tician View Post
    Sorry for this bit of dumping in your thread, but won't be worth its own thread for a while yet.
    Hey, no worries about that. Your input and thoughts are always valued, even if it's not on topic I usually end up learning something from them.

  4. #174
    Join Date
    Feb 2012
    Location
    Sydney, Australia
    Posts
    364
    Rep Power
    34

    Re: Emissary: A Multi-Purpose Hexapod

    Sometimes things just work, and happiness ensues...

    Click image for larger version. 

Name:	SBC Housing.jpg 
Views:	129 
Size:	98.7 KB 
ID:	5377

    Huh? What do you mean I don't have any M4 bolts around?

Thread Information

Users Browsing this Thread

There are currently 1 users browsing this thread. (0 members and 1 guests)

Similar Threads

  1. Custom Mech multi legged
    By Ostrogoto0101 in forum Humanoids, Walkers & Crawlers
    Replies: 5
    Last Post: 08-11-2013, 08:23 AM
  2. Question(s) Robotic multi-axial joint
    By alonso in forum Mechanics / Construction
    Replies: 6
    Last Post: 11-21-2012, 06:54 PM
  3. Replies: 6
    Last Post: 02-02-2010, 06:52 AM
  4. Just For Fun I built a robot whose sole purpose in life was
    By Matt in forum Off Topic
    Replies: 4
    Last Post: 08-22-2008, 02:15 AM

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •