The SSC-32 with 2.01XE firmware has a built in 12 servo hexapod alternating tripod sequencer. It is a canned gait but you can adjust all of the parameters of the gait ((ride height, leg lift) which can effectively make 3 styles of leg X,Y motion) stride length) overall speed, and variable differential speed walking control. So with this you can easily make a 12 servo hexapod walk forward, backwards, and turn in place or gradually, at variable speed, with a handful of simple serial commands. This sequencer can be used in conjunction with any of the other servo channels, Speed, Timed, or servo group moves. Whew! 8)
The SSC-32 with any firmware with Bot Board and Basic Atom (soon to be Atom Pro). By taking advantage of the SSC-32’s group move function the Basic Atom code generates the IK for all 6 3DOF legs in real time to allow walking. This code allows the bot to walk in any direction (translation) turn in place (rotation) and it can do both at the same time, at variable rates. For now it is just the alternating tripod, but the new Pro version will allow many gaits. The current code also generates “body moves” which allows the robots body to be moved in real time through all of the available axis. The control of this gait engine can come from a PS2 game controller, a serial data connection, autonomous from written code (editing the main program). Other options for things like tibia angle and leg dimensions, as well as round or inline body styles can be selected. Also because this IK engine runs in real time it will be possible with the Atom Pro (more code room) to make the robot adapt to terrain. All that is necessary is the addition of ground contact sensors, or pressure sensors to the end of the feet. This will happen in '08! 8)
The SSC-32 with 2.01GP firmware has two independent Sequencer Engines, that can play stored sequences that are stored in the EEPROM. The PC software SEQ (Visual Sequencer) makes it easy to create the sequences, ad get them properly written to the EEPROM chip. You can play the sequences at variable speeds, and in either direction in real time. There is a limit to the number of steps, but it’s a lot. These two sequencer engines can run at the same time independent of each other. And the normal servo functionality is retained. 8)
The SSC-32 with any firmware with PC software RIOS can control a 3DOF planar arm with base and wrist rotate. The gripper is not considered an axis. This program has IK built in so you teach the arm by commanding the end of the gripper in X,Y,Z space. The gripper angle relative to the ground plane can be locked while moving or teaching the arm. The hierarchy of the command structure for RIOS is you create a Project, which contain Sequences, which contain Steps. The program allow the SSC-32’s inputs to effect the progress of the Project by use of common If Then, For Next, or Do While commands. Also with the addition of a pressure sensor or switch on the gripper fingers will allow the grippers force to be controlled. In addition to this, there is also gravity compensate, and even the ability to do do rudimentary 3D scanning of an object using the Sharp GP2D12 sensor added to the arm. 8)
The SSC-32 with any firmware with PC software SEQ (Visual Sequencer) allows the PC to store the positions. The limit of the number of Steps is well BIG. So you will never run out of space for your project. This setup is popular for use with wireless modes of data transmission.
The SSC-32 now has register support for servo offsets, initial servo position on power up, and the ability to issue a startup string. This is really cool because the offsets no longer need to be sent every time the robot is turned on. This simplifies the programming of the robots as well because effectively after calibrating the SSC-32 to the servos, sending 1500uS pulses sends all servos to EXACT centered position. This negates the need to have custom programs and will make sharing of programs, all programs, much easier, as long as the hardware is the same.
This is how we are currently using the SSC-32 in our products. Powerful features can add complexity to it’s use, but we have done our best to provide tools to simplify their use.
