I’m not going to spend much time writing on my first post here. Since I’ve already spent an hour of trying to make a “workshop video” My first take was just to long. But this one is about 10:23. At the end I’m demonstrating my work on my very first SES based biped.
Video, take 1:
Some pictures of the biped, codename “ICS” (Internal Cog Shifter). It doesn’t look very good or impressive at the moment. Simply because I want the kinematics and walking to work before I start on the design.
Thanks for posting! It was cool to hear your name pronounced properly. I really like what you did with the DIY radio. You are pretty good with impromptu verbal demonstrations. I’m very impressed. Looking forward to seeing that guy walking. Keep up the good work!
great workshop video. nice to see it.
the work on the rc remote is great. i did wonder how you managed to get so much movement with A-Pod in part2 of your videos.
i love the way you can select the different rotation points. very cool. 8)
your biped looks great Kåre, well done and keep it up.
really good to see a demonstration of the remote. Kurte and Jims work on that has paid off.
have you written the biped code from scratch or is that a modified version of Xans (Pronounced Zans) phoenix code. like i did for my biped project?
i did wonder how you pronounced Kåre, always good to know.
thanks for your time in sharing your video. your videos can never be too long. always a pleasure to watch.
Great Video! I never fully realised the size of your hexapods until seeing this. One day I’d love to have a workshop and robot collection like you. Until then I look forward to seeing how your Biped turns out
Well, I believe that was the only name I got correct though…
I remember Xan (Jeroen) told me how to pronounce his name but I managed to mess that up pretty well…
Thanks Jim! I’ll keep you updated when I’ve something more useful to show. I think the walking part are going to be a real challenge, but it’s a beginning.
Thanks! I’m glad you liked it.
Yes, I’m using Xan’s code. I’m using the code Kurt modified for the ARC-32, and I’m using parts of the kinematic I used for Felix. And some minor adjustments for including all 5 DOF.
Thanks Kurt, did I get your name correct? Yeah, its really fun!
Yeah! with such a nice workshop as the background, and the various robots resting on the bench, It was like watching a TV segment where you were the host discussing the different bots. All that was missing was the fancy title graphics and background music.
You did a great job with the radio, and the software code is so smooth, kinda like the Apple iPhone operating system where everything runs very fluid and smooth.
Really cool video! I’m totally in for a monthly podcast with you as host!
It’s pretty hard to pronounce my name in english. And don’t worry you did quite well! I’m kinda honored you mensioned my name
Like I’ve already said on the youtube channel, I loved to see a detailed view of your awesome workshop and cool collection of bots! I do have some questions about your DIY RC modds. But I’ll discuss them in the proper topic since this is about your new bi-toy
Pretty cool what you’re doing with the IK for the biped. You know I’m always in for direct control instead of having some predefined sequences. This makes it much more dynamic. Everthing is running pretty smooth as always! What kind of math are you using for the IK part? Are you bulding upon the Phoenix IK or using matrix calculations like in Reza’s book? (which has a 2nd edition btw)
Hi Xan, Thanks for your comment on youtube!
When it comes to the IK math, I do wish I was using the calc from the new book you are referring to. But I’m still just using the Phoenix code, with some modifications though. Making the IK work for this kind of 5 DOF leg design was quite simple. For the 2 DOF ankle it just a matter of adding or subtracting angle values. I’ll post the code when I’m done with it. The real challenge is the 6. DOF and the walking part. I might only use simple FK for the 6. DOF (horisontal hip rotate).
I think I’ll try to make a new Gait sub for the biped.
Thanks and welcome to this forum!
I can’t promise monthly podcast though But I found that using the webcam was a fast and easy way to make a simple video, much better than my old cellphone. It seems like the webcam didn’t like fast movement though.
I don’t blame you about not wanting to make monthly videos since it takes time, and effort away from bot building. What started out as a compliment sorta turned into a request. I say only make videos as you have in the past when you feel there is something worth sharing. I had no idea you used a webcam. Webcams have come a long way.
I read a few of the post on the BM forums with the provided link. You did a good job catching that problem. I just read about the resistor issue on this forum so I wanted to see if you had this problem or if it was on every board.
SN96, right now the only ARC32 bioards in the wild have this problem. We’ve only shipped a handful to testers, Zenta being one of them. Luckily he detected the problem before we went to full shipping and we’ve corrected the problem in two ways. One was a software chaneg which allows us to remove the resistors from 5 of the 4pin groups. The other is the resistor cahneg we are making(4.7k from a 47k pulldown). I’ve tested both the software and hardware fix and it does fix the problem with the Hitec Digital servos. We are in the processor of makign the component changes now and should have that finished this week. That means Jim should have them in stock sometime next week.
Sounds good! as with any new product, there are going to be changes. At my work, Schlumberger boards (our customer) are constantly being revised - Pats removed, parts added, jumper wires added part changes etc… its good that resistor was caught so early.
Just a tiny little update.
I’ve the gait code almost ready, and yesterday evening my biped took his first step! I do have some code work left. I’ve not decided if I should go for reverse knee or not. I must admit that the reversed knee look a bit cooler though. There are also some mechanical work left and the battery needs to be mounted, wires, etc.
I’ll post more info later. Maybe a short workshop video too.
My first take was just to long. But this one is about 10:23. At the end I’m demonstrating my work on my very first SES based biped.
Looking forward to seeing that guy walking. Keep up the good work!
