Wanted to share with you my robot, I have chosen to build a (to scale) Tachikoma robot with as
much features and functionality as the 'real' one as possible. This project started about 2 years ago
but it really took off around new year of 2012/2013 when I took some time off from work to work on it. I
like the Tachikoma because of the cuteness and for the technical challenges, it being a anime robot
it does not always display realistic behaviour but its great to see how far I can get, forcing me to
design with certain constraints is a great challenge. I also considered making a Claptrap from Borderlands,
Gur from invader zim and my girlfriend really wants me to make a Wall-E with moving eyes.
Naturally I have to give a shout out to the Xachikoma by Xevel, it is awesome and inspirational. I found it a few weeks
a go while googling quadropod robots and sending Xevel a pm was the whole reason I joined the Trossen robotics forum.
As a study I have a degree in mechanical engineering, until starting this project I had little electrical or programming experience, currently just learning as I go. Getting the walking gait to work with an Arduino was for me a huge achievement. Most of the time I use (after rigorous selection and puzzling) off the self products. I do not have any machining capabilities but I am getting myself a 3D printer for the third prototype iteration.
Current overview of the prototype design ideas and features.
- Determining leg DOFs and right combination.
- Getting an Arduino to work with servos.
- 4 legs, 4 wheels, 3 DOF legs with 2 DOFs meant for walking and 1 DOF for steering and actuator for wheels.
- Use distance sensors to steer away from walls.
- Implementing the walk pattern.
- Power robot with lab power supply or battery (easily switch able).
- Combining the ssc-32 with the Arduino.
- Diagram for initial autonomous behaviour.
Some pictures and videos:
- 3D printed body to resemble Tachikoma.
- Proper mounting for distance sensors, adding one more to watch the front for reducing velocity.
- Mechanically improve steering, locate wheel centre underneath steering servo.
- Optimise autonomous driving and walking behaviour.
- Sound with WAV shield, already collected audio samples from GITS episodes (Japanese). Having some trouble with Arduino memory restraints.
For more info (in Dutch), pictures and video I keep them on my website: http://www.cmhofstede.nl/category/ei...en-vrije-tijd/