4dof Quadruped robot (T-Hex type) AXIS

[km6vv]

Hi Jonny,

@innerbreed

Facing forward. have you got a link for your MicroMoose? think iv asked that before.

Yes, I’ll have to take some pix, and start a thread. I could use some more eyes on the design!

@innerbreed

just out of view for the pictures. i will be putting it on the under side.

That works. I think I designed in some room and a clamp for Poly batteries inside Little Cat. Also a BEC.

@innerbreed

i almost set up a thread on this. ok ill do one now. look out…
viewtopic.php?f=17&t=6602

Good! I’m there!

Alan KM6VV

[innerbreed]

As you may see from the pictures the robot is “rear” heavy. so I plan on adding a gripper kit or a Pan&Tilt head to the front to help balance the center point of balance.
http://i531.photobucket.com/albums/dd355/innerbreed/102_2450.jpg

Although thinking, i would like to add something more unique than a gripper kit or a Pan&Tilt!

[acidtech]

Paintball gun.

[km6vv]

Something like R2D2 uses to manipulate the communications circuits? (Reminds me of a hand spinning a safe dial).

Alan KM6VV

[innerbreed]

@Acidtech

Paintball gun.

this could get dangerous! lol

@KM6VV

Something like R2D2 uses to manipulate the communications circuits? (Reminds me of a hand spinning a safe dial).

Alan KM6VV

Im constantly trying to find a purpose for these robots. i cannot seem to find one, other than to have fun with it. i suppose that will do.

[innerbreed]

Ok Pan&Tilt…
…but iv had to do something different as,… well it just wouldnt be me otherwise.

http://i531.photobucket.com/albums/dd355/innerbreed/102_2539.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/102_2538.jpg

unfortunately with this design it doesn’t fit inside the body due to limitations by the coxa servos.
http://i531.photobucket.com/albums/dd355/innerbreed/102_2535.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/102_2534.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/102_2533.jpg

[km6vv]

OK, that’s an unusual way to to tilt/pan!

How much tilt do you get out of it?

Alan KM6VV

[innerbreed]

it gives ±35º pan each way and ±40º tilt

[km6vv]

What camera are you going to put on it?

Alan KM6VV

[innerbreed]

who said anything about a camera?

at the moment i have a Sharp GP2D12 IR Sensor attached to it just for fun. not sure what i want on it yet. really the pan&tilt is only giving me something else to play with.

im trying to implement the P&T into the FK so that it will move fluidly when the body moves.

[km6vv]

Oh OK, I assumed too much!

Alan KM6VV

[innerbreed]

Here is another video showing the new chassis.

i havent added the P&T part yet.

[km6vv]

Nice video. How do you do your editing?

Did I see single leg moves? I remember something like that in the code, but didn’t see how it was called. That mode could be useful.

That battery seems to be getting away!

Alan KM6VV

[innerbreed]

edited with Windows Movie Maker! looks good in HD
iv still used the same camera but i used a different converter so pictures are better. i hope.

i have ordered a smaller battery that might look better on it. plus i ran out of valcro strip to mount it to the underside.

;Single leg mode IF (DualShock(2).bit5 = 0) and LastButton(1).bit5 THEN ;Circle Button test IF ABS(TravelLengthX)<cTravelDeadZone AND ABS(TravelLengthZ)<cTravelDeadZone AND ABS(TravelRotationY*2)<cTravelDeadZone THEN Sound P9,[50\4000] IF (ControlMode <> SingleLegMode) THEN ControlMode = SingleLegMode IF (SelectedLeg = 255) THEN ;Select leg if none is selected SelectedLeg=cRF ;Startleg ENDIF ELSE ControlMode = WalkMode SelectedLeg=255 ENDIF ENDIF ENDIF

[code];[Single leg functions]
IF (ControlMode=SINGLELEGMODE) THEN

  ;Switch leg for single leg control
  IF (DualShock(1).bit0 = 0) and LastButton(0).bit0 THEN	;Select Button test 
    Sound P9,[50\4000]
    IF SelectedLeg<5 THEN
      SelectedLeg = SelectedLeg+1
    ELSE
      SelectedLeg=0
    ENDIF
  ENDIF

  ;Single Leg Mode
  IF (ControlMode = SingleLegMode) THEN 
    SLLegX	= (Dualshock(5) - 128)/2 ;Left Stick Right/Left
    SLLegY	= (Dualshock(4) - 128)/10 ;Right Stick Up/Down
    SLLegZ 	= (Dualshock(6) - 128)/2 ;Left Stick Up/Down
  ENDIF	

  ; Hold single leg in place
  IF (DualShock(2).bit1 = 0) and LastButton(1).bit1 THEN	;R2 Button test
    sound p9, [50\4000]
    SLHold = SLHold^1
  ENDIF	  
ENDIF[/code]

[innerbreed]

The next step of this machine is the Ground Contact Force Sensing kit. Terrain Adaption…

[km6vv]

New code?

Thanks. All I saw was a few variable definitions in the Quad 4DOF code.

Alan KM6VV

[innerbreed]

the code i just posted was outlining the single leg mode.

[km6vv]

Good outline!

I can use it to test out the 4 T-Hex 4DOF legs I just assembled. Don’t have the R/C servos installed yet. They look impressive!

Now I’m split between further work on the MicroMoose, and getting Little Cat to walk with new legs.

So many robots, so little time!

Alan KM6VV

@innerbreed

the code i just posted was outlining the single leg mode.

[innerbreed]

@KM6VV

Good outline!

I can use it to test out the 4 T-Hex 4DOF legs I just assembled. Don’t have the R/C servos installed yet. They look impressive!

Now I’m split between further work on the MicroMoose, and getting Little Cat to walk with new legs.

So many robots, so little time!

Alan KM6VV

@innerbreed

the code i just posted was outlining the single leg mode.

come on get her off the shelf and blow off the dust.
you will have to adjust the Config file for your chassis dimensions. the legs should be the same but pin numbers will need looking at.

[km6vv]

That’s the plan!

Gotta get all those lovely servos mounted first, I think. I’ve been pulling stuff off the chassis. So that’s not too far behind.

Alan KM6VV