RX-64 Humanoid: Giger

Tyberius · #1 05-31-2009

As some of you may already know, I ran into some pretty major issues with Hagetaka walking correctly. Mostly it boils down to too much payload, and the hip-roll servos needing to be upgraded to EX-106s to compensate. I had Hage walking, but the feet were dragging and causing it to veer off course, which I was not happy with. Not wanting to be without a bot for Year 1 Mech Warfare, I decided to go with a backup plan I had cooking.

3 days of insane amounts of CNC work later... I have Giger:

More details to come when I'm not so sleep deprived. =)

Current progress:

Zenta · #2 05-31-2009

WoW! Thats awesome!

Really massive humanoid. I'm guessing that its not only I that envy you all those 64's...
Excellent built again!

Looking forward to see him walking.

-Zenta

Sienna · #3 05-31-2009

Just wow! For some reason, I especially like the head, I have no idea why. (but it needs menacing led eyes :P)

And I am shocked that the RX 64's had such a thing as too much payload!

CogswellCogs · #4 05-31-2009

Wow ! It's amazing to me you can crank out such a great looking mech in such short order.

It's a shame that Hagetaka didn't work like you'd hoped. I loved the whole MechWarrior look. Can you describe in more detail the issues you ran into ? What motion does the 'hip roll' servo provide ? Hip roll, I guess, but I don't which hip motion that corresponds to.

Thanks,
CogswellCogs

mannyr7 · #5 06-01-2009

HATCHETMAN!!!

Tyberius · #6 06-01-2009

Quote:

Originally Posted by CogswellCogs

Wow ! It's amazing to me you can crank out such a great looking mech in such short order.

It's a shame that Hagetaka didn't work like you'd hoped. I loved the whole MechWarrior look. Can you describe in more detail the issues you ran into ? What motion does the 'hip roll' servo provide ? Hip roll, I guess, but I don't which hip motion that corresponds to.

Thanks,
CogswellCogs

Thanks guys (and gals)!

In most humanoids all the servos are named depending on which axis they are on. Ankle-Roll, Ankle-Pitch, Knee-Pitch, Hip-Pitch, Hip-Roll, Hip-Yaw. Think aerodynamics terminology. The Hip-Roll & Ankle-Roll are the servos that shift the weight from side to side. Hagetaka could shift the weight no problem, but when the lifting foot would raise up, the opposite Hip-Roll servo wasn't strong enough to keep the hips parallel to the ground, and they would sag. If I tried to overcompensate for this, the servos would stall completely. This resulted in the robot dragging its lifting foot across the ground with each step it took, which in turn caused it to veer off course and walk in a very crippled fashion. I was not happy with it at all, thus the rather drastic last minute reconfiguration: I'll very likely revisit Hagetaka when I don't have a competition in less than 2 weeks.

So far Giger is about 1kg lighter than Hagetaka. It's a 22DOF humanoid, 16 RX-64s and 6 RX-28s. Airsoft guns are going to be mounted on the side of the forearms. I'll have full pan/tilt for aiming, as well as being able to toggle finer arm aiming.

Sienna- I'm actually going with a red Cylon type eye

Manny- I actually thought the same exact thing, though it wasn't intentional

TOhm · #7 06-01-2009

I just have to say...SWEET!

tom_chang79 · #8 06-05-2009

Just curious, what were you using to power up your RX-64s? I'm wondering if it's a power issue since the spec on the 64 is a beastly 888 oz/in at 15V!!!

Were you using LiPo technology to source the tremendous amount of current that the RX-64s combined will need?

Tyberius · #9 06-05-2009

Quote:

Originally Posted by tom_chang79

Just curious, what were you using to power up your RX-64s? I'm wondering if it's a power issue since the spec on the 64 is a beastly 888 oz/in at 15V!!!

Were you using LiPo technology to source the tremendous amount of current that the RX-64s combined will need?

Actually I was using a 5S LiPo, which caps at about 21v (max voltage spec for the RX-64s, puts them over 1000 oz-in of torque).

Gotta keep in mind though, Hagetaka had 5 lbs of payload on top of those legs and a very wide leg stance, which was ultimately the problem. Upgrading the hip-roll and ankle-roll servos to EX-106s is probably my next step to getting that project back on track, but I can't afford 2 grand worth of servos given the considerable amount I've already put into this.

New forearms:

Bullit · #10 06-05-2009

Nice!
He'll be like Zyn's little brother!