ROS Hexapod project Golem: MX-64 4dof

[KevinO]

Gait test of my next project named Golem. My primary goal for the project is to learn ROS (www.ros.org) so I designed this platform to keep it interesting. Golem is roughly 2.5 feet (76.2 cm) in diameter and weighs 16 pounds (7.3 Kg). His body is T6 Aluminum with parts powder coated white gloss for a bit of flair. In regards to servos, the legs are MX-64s and the turret is a MX-28. The camera system isn't ready so it isn't attached at this time. It has an onboard Intel NUC D54250 motherboard that consists of a Intel 4th Gen i5 processor 8 Gig of RAM and a 120 Gig SSD. It also has a gyroscope, accelerometer and compass for bearing and orientation aide. Manual control is done by a Sony Playstation 3 controller paired to the onboard Bluetooth. It's power supply is a 6000 mAh military spec lipo battery. Much more to come but I thought I would share my current progress. I'd like to note my development of this project is in partnership with Interbotix Labs. Special thanks to Andrew for allowing me to use design elements from his Envy quad project.






Here is a list of the primary parts I used.

T6 aluminium parts, powder coated gloss white
www.emachineshop.com

Dynamixel MX-64T Robot Actuator Bulk (6 pack) (x4)
http://www.trossenrobotics.com/p/mx-...or-6-pack.aspx

Dynamixel MX-28T
http://www.trossenrobotics.com/dynam...-actuator.aspx

2.4GHz Dipole Swivel Antenna with RP-SMA - 5dBi (x2)
http://www.adafruit.com/products/945

RP-SMA to uFL/u.FL/IPX/IPEX RF Adapter Cable (x2)
http://www.adafruit.com/products/852

6000mAh 3-CELL/3S3P 11.1V PRO LITE MS LIPO
http://www.thunderpowerrc.com/Produc...2/TP6000-3S3PL

Intel NUC Core i5-4250U NUC BOXD54250WYK
http://www.intel.com/content/www/us/...d54250wyk.html

Crucial 8GB Kit (4GBx2) DDR3 1600
http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

Intel Network 6235AN.HMWWB Centrino WiFi Card Half Mini PCI Express Advanced-N 6235 Dual Band Bluetooth
http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

Intel 525 Series Solid State Drive 120GB
http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

DC/DC 3.5-30V to 4.0-30V Booster Converter Step Up Voltage Regulator LM2587
http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

X-Mini II XAM4-B Portable Capsule Speaker
http://www.amazon.com/X-Mini-XAM14-G...dp_ob_title_ce

Xevel's USB2AX (yes it works great for MX-64s!)
http://www.seeedstudio.com/depot/USB2AX-p-1349.html

PhidgetSpatial Precision 3/3/3 High Resolution
http://www.phidgets.com/products.php...duct_id=1044_0

I'm also running Ubuntu 13.04 on the NUC

[KurtEck]

Great looking setup and video!

My guess is that with those servos you need to be very careful where you put your fingers

Kurt

[KevinO]

I have been pinched once Kurt. They sure do have some torque!

[jwatte]

Looks massive! I, too, like the T6 aluminum for brackets. Although mine's only 3DOF, and 4 legs ;-)

[Th232]

Looking good, especially the aesthetics.

How are the tarsus servos holding up in terms of power/heat?

[KevinO]

Th232 I've noticed no temperature change to touch after five minutes of walking around but more tests are needed. Power was solid with no drop but then again five minutes isn't that long.

[Zenta]

Awesome project Kevin, looks great and big!
Looking forward to see what you are able to do with a walking PC..

How are you solving the movements for the tars part, mostly perpendicular to the ground?

[KevinO]

How are you solving the movements for the tars part, mostly perpendicular to the ground?

Nothing as fancy as you did on your THex. It's just foot height offset by tarsus length, and the angle is femurAngle - tibiaAngle. I'd love to do some transitional angles like you did but I figured I should keep it simple to start.

[jwatte]

How Much money

Here's how I would estimate it: Math says that 24 MX-64s are 4x$1499, or about $6k. Probably need to add another k at least for computer, batteries, brackets, horns, and other hardware. (More if not heavily DIY.)
Kevin says that Interbotix is collaborating on this, which sounds very helpful. I wouldn't know if this is mainly in knowledge, or something else.

[KevinO]

I'd be happy to do a part list if anyone is curious of everything in it.