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Thread: ROS Hexapod project Golem: MX-64 4dof

  1. #21
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    Re: Golem: MX-64 4dof Hexapod project.

    Lens came today! So now I can start playing with the camera setup.

    Click image for larger version. 

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  2. #22

    Re: Golem: MX-64 4dof Hexapod project.

    Nice looking lens!

  3. #23
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    Re: Golem: MX-64 4dof Hexapod project.

    So hardware is pretty much done. Only downside so far is it is too big to fit through normal doorways while walking.


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  4. #24
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    Re: Golem: MX-64 4dof Hexapod project.

    Now that the hardware's done, what's the next step?

    With doorways, any chance of being able to lift up the body and bring the feet closer in?

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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by Th232 View Post
    Now that the hardware's done, what's the next step?
    This is my ROS platform so I'm taking my gait code and wrapping it in a node to use in ROS. There are a few sensors like compass, gyro and accelerometer so need to hook into them as well. I've tested each with stand alone ROS packages so I know they work. Just need to tie them all together.


    Quote Originally Posted by Th232 View Post
    With doorways, any chance of being able to lift up the body and bring the feet closer in?
    Oh totally, it was more of a joke.

  6. Re: Golem: MX-64 4dof Hexapod project.

    Awesome!

    On an aesthetics note though, I prefered the antennas where they used to be instead of on the head ^^
    Also I'm not sure about it but aren't antennas supposed to be a little bit farther apart to be happy? It might be for a totally different setting though, I'm not sure at all if it's relevant here or not.
    ---
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    Re: Golem: MX-64 4dof Hexapod project.

    One is Bluetooth and the other is wifi. So I should be fine... Should.

    I always intended on moving them. I needed the pass through holes for the wires for the camera and such.

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    Re: Golem: MX-64 4dof Hexapod project.

    'Tis a beautiful, if massive, bot. The tab-and-slot design of the head reminds me of something, and it is really annoying me that I cannot place it. Maybe it is the slight resemblance to a dog's head that is triggering it, but I want to say it is something from a movie.

    Are the black structural frames of the legs from Trossen/Robotis, or custom from emachineshop? Since you use flat pieces for all of the white powder-coated parts, I am guessing you used either 6061 or 6063 (T6 is a temper rating) which are usually inexpensive but do not like bending at room temperature.

    While I certainly get the appeal of moving the antennae to the head to limit physical/visual interference with the camera, are the coaxial cables rated for that type of repeated flexing? I think I've only seen shielded coaxial cables like that used in 'stuff it into cramped quarters and never move it' or 'little bit of bending with a very large radius' scenarios. Although it tends to be made of small diameter strands, the core of coaxial is usually very low strand count (1 or 7).
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  9. #29
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    Re: Golem: MX-64 4dof Hexapod project.

    Those are our custom MX-64/106 brackets in the legs. I have more designs coming soon with an emphasis on humanoid legs (think Darwin tibias and feet for 106 based humanoids).

    I love that the custom brackets look close enough to the stock ROBOTIS ones that people often question it. Exactly what I'd hoped for.
    Andrew Dresner
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  10. #30
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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by tician View Post
    Since you use flat pieces for all of the white powder-coated parts, I am guessing you used either 6061 or 6063 (T6 is a temper rating) which are usually inexpensive but do not like bending at room temperature.
    6061 Good guess!

    Quote Originally Posted by tician View Post
    ...are the coaxial cables rated for that type of repeated flexing? I think I've only seen shielded coaxial cables like that used in 'stuff it into cramped quarters and never move it' or 'little bit of bending with a very large radius' scenarios....
    The jury is still out on that. I bought a few different styles this seemed the best and the most insulation. I'm going to just have to wait and see honestly.

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