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Thread: First steps for Super Mega Microbot

  1. Re: First steps for Super Mega Microbot

    Fortunately, the rubber feet I've been using seem to work pretty well even as the angle changes during a contact sweep even with pretty steep contact angles. Two well publicized, but larger robots, (BD's Spot and MIT's Cheetah), use the same 3dof geometry, albeit with much more performant actuators.

    Stag, mentioned somewhere here in the forums, used a 4dof leg, with the 4th degree in the hip providing yaw control for each leg. It wasn't clear to me exactly what the benefit of adding that degree of freedom was if you had a foot which made contact at effectively one point, as Stag did.

  2. Re: First steps for Super Mega Microbot

    More slow but steady progress...

    The odroid shield came in from Macrofab, as did the mounting plates, servos, and feet supplies. I haven't brought up the daughterboard yet or wired everything, but did attempt a test mounting of everything but the turret today.

    Click image for larger version. 

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  3. #23

    Re: First steps for Super Mega Microbot

    I think yaw would allow you to clear the legs from each other (and the body) when taking long strides.

  4. Re: First steps for Super Mega Microbot

    Now we've got things wired up, and have the our full software system running onboard:

    Click image for larger version. 

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    The gait engine is running at the 11.2ms HerkuleX frame interval, with IMU data currently being logged at 200Hz.

    Click image for larger version. 

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    And we've moved our source repository to a public one at github, which includes all the software for the mech, the gait analysis tools, as well as the diagnostic tools like the plotting and telemetry manipulation:

    https://github.com/mjbots/mjmech

    Next up will be integrating the new turret with gimbal stabilization, then back to making it walk faster.

  5. #25

    Re: First steps for Super Mega Microbot

    OK, that looks cute!

  6. #26
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    Re: First steps for Super Mega Microbot

    I like it! and can't wait to see more.
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  7. #27
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    Re: First steps for Super Mega Microbot

    Hi. Great progress! Have you considered designing the body using vertical plates instead?
    Kåre Halvorsen aka Zenta
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  8. Re: First steps for Super Mega Microbot

    Quote Originally Posted by Zenta View Post
    Hi. Great progress! Have you considered designing the body using vertical plates instead?
    Thanks!

    So far I've only thought about vertical plates for the lizard configuration, where the HerkuleX mounting geometry doesn't make a single flat plate very convenient (as evidenced by the first iteration of this mech). For this configuration, I don't see a lot of downsides to the dual plate style: Manufacturing is trivial, it leaves lots of room to mount extra boards as necessary, and assembly and disassembly is really easy too. As shown here, I don't even have to mount the bottom plate unless I want a convenient place for a battery, or need to support the full weight of a mech warfare turret.

    What are your ideas for how vertical body plates would be useful?

  9. Re: First steps for Super Mega Microbot

    And now, finally, I have a working inertially stabilized gimbal! Neither it, nor the walking gait are necessarily tuned that well, but here's my youtube existence proof before I return to getting ready for Robogames!


  10. #30

    Re: First steps for Super Mega Microbot

    Walking and shooting. Scary!

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