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Thread: MX-Phoenix hexapod and some more

  1. #51
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    Re: MX-Phoenix hexapod and some more

    Quote Originally Posted by Brooks View Post
    I believe it's ideal for feet to be rotatable. The lower square (to the right) carries two oilite bushings, which lets the shaft (and the foot) rotate freely. I'll use a spring and a couple of collars to hold the foot extended. I want to be able to lift the leg to sense forward obstructions.
    I'm working on placing the Pololu IR analog sensor inside the upper square. It will sense the upper collar's position, and it's output will be processed by a Amtel ATtiny102 microcontroller, also located within the upper square.
    Sounds like an interesting solution. You should post more about your progress. I don't think I understood how you are able to sense forward obstructions?. You know, during walking all 4 sides of a leg will at some point move "forward". It all depends what direction you are walking.
    Kåre Halvorsen aka Zenta
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  2. #52
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    Re: MX-Phoenix hexapod and some more

    Hi Zenta! Last summer I was all over the foot-sensor thing, and then got distracted by the idea of FK'ing the leg at startup so the bot could dis-entangle it's legs and rise gracefully. Then I got distracted by self-balancing two-wheel bots. While I'm waiting for the hardware for this to come in I'm thinking about adding a couple of servos to it so it can self-erect. And integrate the servos into a more predictive balancing paradigm - like a position-able pendulum.
    When I saw the pictures of the foot sensor here I remembered I had forgotten to order the IR sensors (optical foot switch, not mechanical), so I dragged out what I had, ordered the sensors, and posted the picture.
    My intention has always been to have the motion be terrain-adaptive, and to be able to use the feet to sense "around" and "forward" if I get odd sensor inputs. Just as we would do if we were blindfolded and on our hands and knees - we'd pretty much ignore "expected" sensor inputs, but start touching around with our hands if something unexpected happened.
    This all means TONS of development work! And I have too many projects cooking.
    So! First the self-balancer! Then back to the hexapod. And then on to the humanoids I just got a good price on...
    I'm hoping to be done before the year 3,000...

  3. #53
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    Re: MX-Phoenix hexapod and some more

    You know that distractions is your worst enemy, you'll end up with nothing and only half-way solutions..
    You should post more about your projects or make some vids.
    Kåre Halvorsen aka Zenta
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  4. #54

    Re: MX-Phoenix hexapod and some more

    Excellent project log! Really like the leg design as well as the remote controller, looks professional.
    Keep up the good work.

  5. #55
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    Re: MX-Phoenix hexapod and some more

    Thanks m3atsauc3!
    Kåre Halvorsen aka Zenta
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  6. #56
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    Re: MX-Phoenix hexapod and some more

    Hi,

    I've not got time to do much robotics lately, but I did get time to make a second video of MX-Phoenix. I'm pretty satisfied with the result myself. Still need to make some better feet..

    Kåre Halvorsen aka Zenta
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  7. #57

    Re: MX-Phoenix hexapod and some more

    Wow, that is a great video. Creepy, but in a good way.
    Hugh

  8. #58
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    Re: MX-Phoenix hexapod and some more

    I agree with Hugh - that was a great video! It's inspiring to see closed-loop foot-sensors affecting the movement of the 'bot. Kudos!

  9. #59

    Re: MX-Phoenix hexapod and some more

    Hi Kåre,

    I saw the video when Youtube - mentioned that you uploaded a new one

    Your code is working great! Can not wait to see what it does next!

  10. #60
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    Re: MX-Phoenix hexapod and some more

    Thanks for your comments guys!

    Quote Originally Posted by KurtEck View Post
    Hi Kåre,

    I saw the video when Youtube - mentioned that you uploaded a new one

    Your code is working great! Can not wait to see what it does next!
    Thanks Kurt, glad you liked it!

    My next step is to add an IMU and new slightly larger feet.
    I've also got the MKIII metal PhantomX kit I hope to build together with some of my kids, for fun. I'll post some info about that in a new thread.
    Kåre Halvorsen aka Zenta
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