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Thread: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

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    Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    So Charlotte has been getting a major overhaul lately. I was hitting limitations of the Raspberry Pi and needed something a bit more powerful. I settled on a Intel NUC with a i3 CPU 1.8 Ghz (4 logical cores) 8 gig of RAM and a 120 Gid SSD. Wifi and Bluetooth as well. I needed a voltage up converter to 19 volts to power it, not a major deal and actually had one here. Control is handled by a Logitech F710 game controller. I'm using the same sensor for depth as on Charlotte 1.0. There is a 4 port USB hub underneath the neck mount. Last Xevel's USB2AX is controlling the servos.

    The body is a prototype of Trossen's Edge Kit line Tyberius is developing. I'll let Tyberius chime in with answers to any questions you have on that. It is an amazing platform as always.

    Power is provided by a 6.6 Amp hour battery. It actually runs the entire length of the body frame! It is a bit overkill and I'm looking at something a bit smaller. The extra weight is a bit to much for my liking.

    I'm currently in testing and gait tweaks. I'm using a modified gait to the one I used on Charlotte 1.0. I will post videos of my progress like I always do.

    Cheers,
    Kevin

    Click image for larger version. 

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Looking forward to some videos of v2 and your thoughts on the edge kit, including a comparison with the pheonix platform on Charlotte v1.

    Thanks for sharing!

  3. #3
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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    It's very interesting!

  4. #4

    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Looking great. Will be fun to see it walk with all 8 legs. So I am assuming that this is now "the" Charlotte.

    Kurt

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Wow, that looks great. I can't wait for more details.

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    So I've received a couple of PM's about weight. With everything together we come in at 9.18lb (4 kg)

    I've been working on the code lately and have split everything into it's own threads. I've also been working on using the standard joystick libraries using a Logitech F710 controller. I'll throw it over to Kurt when I'm finished. This way if you are using a Linux based computer you can pick and choose your controller as long as it can use the standard joystick libraries.
    Last edited by KevinO; 07-17-2013 at 06:04 PM.

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    So making an interesting gait for a eight legged robot is harder than I thought. I'm currently trying out a tarantula type gait currently. Alternating every other leg similar to a tripod gait is fine but rather boring. I'll be posting a video soon.
    Last edited by KevinO; 07-20-2013 at 02:18 AM.

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Here is Charlotte 2.0 in a simple locomotion test. This is very rough and this is a video for me to catch anomalies in the gait system. As you can probably see there is a bit more sliding than I'd like. The Prime Sense is not turned on in this test.


    Last edited by KevinO; 08-11-2013 at 02:04 PM.

  9. #9

    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Nice video!

    Good to see that you got it walking.

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    Re: Charlotte 2.0 (Intel NUC) using a Trossen Edge Kit prototype

    Still trying out a few gaits. There are only a few gaits that mimic real life creatures that I'm trying out now. As you might have already noticed I've also added a 15 degree offset angle to the coxas of the middle legs to allow for a longer stride. I'll post another video of the new gaits soon. Plus I'm long overdue for showing a video of the tracking abilities of Charlotte. I need to find some cheap video editing software that will allow me to make a picture in picture of two videos.

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