Issy Goes Fire Fighting

[lnxfergy]

I've been talking lately about building a walking fire fighter, but I've now finally started transforming Issy from a mech into a Fire Fighter, so I decided I should create a build log for what is a very different robot.

Issy's new body is about 2" shorter in both the width and length direction, a necessary adjustment to get him under the 12"x12" rule (yes, I know the Trinity contest allows walkers to be 12"x18", but I intend to take Issy to CNRG, and possibly RoboGames next year, and neither contest has a walker division, so the 12"x12" rule had to be followed). He's getting a head similar to what I had on GMR. The head will have an IR ranger for 99% of his navigation, a sonar ranger mainly for approaching the candle (since the IR gets wiped out), an IR photodiode for fire detection (similar to Crater's sensory), and a ducted fan for fire extinguishing. Issy is using an arbotiX robocontroller, and power is from an 11.1V 2200mAh LiPO. Early tests with IK have shown quite a bit of promise as far as odometry from walking - I've still got a ways to go as far as implementing a geometrically stable gait.

Here's some early photos, obviously the head is mostly empty, I'm hoping to get his sensors in there tomorrow. Front view:

Back Side:

Underside View:

[mannyr7]

Wow! Awesome work Fergs! Definitely +rep from me. Can't wait to get my hands on that new controller. I like the compactness of Issy this way and your IK looks VERY promising.

[Zenta]

Great work! I really like how you fixed the four coxa servos together using the rather simple aluminium bracket. Very compact and smart way to do it.

-Zenta

[Adrenalynn]

Yeah, those compact legs are way cool!

[bigderhak]

Me likes! I was thinking of making a quad with the legs centralized like this but maybe even more where all the hubs were as tight as I could get them. I don't know if it would be of any benefit, just something I was rolling around. Can't wait to see it in action!

[lnxfergy]

Thanks to all, when he's walking he'll be slightly bigger since he can't keep his legs completely tucked up inside.

bigderhak - that's about small as you can go (while staying symmetrical) with AX-12s. There's only about 1/16" between the servos, since the servo's mounting lips overhang the it's body the gap looks larger.

-Fergs

[bigderhak]

I was meaning to put them in a "X" so that all the hubs where in the center of the body. But again just an idea and I don't know that it would help or hinder any mounting or movements.

[lnxfergy]

I've finished assembling Issy's new head, pics have been updated above. Hopefully I'll have a video of him walking and following walls tonight or tomorrow...

-Fergs

[jes1510]

IssyAwesome? Yes, yes he is.

[lnxfergy]

And here we go: first video of Issy fighting a fire:


-Fergs