This is my work in progress, Anubis. So named because it will be a biped with a Beaglebone Black for a brain. Each leg is 6 DOF and each arm is 3 DOF, for a total of 20 servos with 2 for the pan/tilt head. The servo configuration is inspired by DARwIn, having only 3 points of rotation in each leg. This should make the inverse kinematics much easier and faster to calculate in real time.
Anubis will be using a BeagleBone Black to run the firmware that controls the new Veyron Servo Controller from DFRobot. I was lucky enough to be one of the winners to try out the Veyron, so I thought that this would be a good platform to test it out. I will also soon be posting a review for the controller after I put it through its' paces, and I'll post a link for that here as well.
As you can see the frame of Anubis is 3D printed and I will include a link to all the parts files after I finish the final design. I used EMAX ES08MA II metal gear servos for all of the actuators and they've turned out to be quite powerful little servos.
The head has a PIXY image sensor that is used for color/object detection. My plan was to get this bot capable of playing soccer, but there are tons of cools things that the PIXY will allow me to experiment with.
Research platform with face recognition used to study dynamic gaits while tracking.
- Actuators / output devices: EMAX ES08MAII Metal gear micro-servos
- Control method: autonomous
- CPU: Beaglebone Black ARM
- Operating system: Linux
- Power source: 7.2v Li-Po
- Programming language: C
- Sensors / input devices: 6dof IMU, OV7670 VGA camera module. FSR feet sensors
- Target environment: Indoor/Outdoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/anubis