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Thread: Project Rhoeby - a ROS Navigation-capable hexapod robot

  1. Project Rhoeby - a ROS Navigation-capable hexapod robot

    Hi Trossen Community!

    I am very pleased to announce "Rhoeby", a newly ROS-enabled hexapod robot. Rhoeby is a customized version of the Robotis Bioloid kit. It uses low-cost, light-weight 2D Scanning technology available from Rhoeby Dynamics. It supports SLAM, Navigation and Obstacle Avoidance.

    There is a video of the dynamic obstacle avoidance here:



    == Hardware Used ==

    * Robotis Bioloid "Spider" chassis (with custom legs)
    * Robotis Cm9.04 MCU board
    * Nexus 4 phone provides IMU (and tele-prescence camera)
    * Rhoeby Dynamics 2D Infra-Red LiDAR Scanner
    * Bluetooth link to robot for command and status back
    * Remote laptop running ROS Indigo

    == Software Features ==

    * 3-DOF Inverse Kinematic leg control
    * Holonomic-capable gait
    * Odometric feedback
    * ROS node for robot control

    If interested, you could find more information at:

    http://wiki.ros.org/Robots/Rhoeby

    And see our website at:

    http://www.rhoeby.com

    Cheers!

    John Jordan

  2. #2
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    Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    Awesome! Absolutely great work. I'm impressed by the smooth gait you've achieved using the standard servos.
    Kåre Halvorsen aka Zenta
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    Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    Looks great! Good job!

  4. #4

    Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    Looks quite interesting!
    Where in California are you based?
    And what price range are you aiming for?

  5. Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    Anyone interested to know more could send email to: enquiries <AT> rhoeby.com.

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    Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    Very nice work! How is your battery run time with this setup?
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  7. Re: Project Rhoeby - a ROS Navigation-capable hexapod robot

    30 - 60 minutes, depending on usage. I noticed that current draw is affected by the pose a fair bit. If the legs are held under tension (beyond that caused by simply standing) the current consumption can be quite a bit higher... lifting each leg in succession to remove lateral tension reduces that.

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