Kurt
I’m trying to get a set of 6DOF working using the Phoenix V21 code. So far i tried to just merge two of the phoenix legs into one. Like
The Rear Right and the Middle Right legs
From
[code];[ARC32 PIN NUMBERS]
cRRCoxaPin con P31 ;Rear Right leg Hip Horizontal
cRRFemurPin con P30 ;Rear Right leg Hip Vertical
cRRTibiaPin con P29 ;Rear Right leg Knee
cRMCoxaPin con P28 ;Middle Right leg Hip Horizontal
cRMFemurPin con P27 ;Middle Right leg Hip Vertical
cRMTibiaPin con P26 ;Middle Right leg Knee[/code]
To
;[ARC32 PIN NUMBERS]
RHipYawPin con P31 ; Right leg Hip Horizontal
RHipRollPin con P30 ; Right leg Hip Vertical
RHipPitchPin con P29 ; Right leg Hip
RKneePin con P28 ; Right leg Knee
RAnklePitchPin con P27 ; Right leg Ankle
RAnkleRollPin con P26 ; Right leg Ankle
But it seems that 'm not following how to set the servo start positions when I select 0 ont the DIY could you point me in the right direction
Bipeds and Arc32 - Sorry I am not much help on this as I have not thought about how to add more DOF to a leg. You get into lots of issues like how to solve the kinematics. So far my Bipeds have been brat based and use canned sequences to walk and the like.
Sounds like something Zenta has been doing, probably also with DIY Xbee code. More info up on the thread: viewtopic.php?f=7&t=6342&hilit=archer or his blog.
Thought I should continue here. I’ve been able to communicate between the Biped and the DIY transmitter. I’m using Zentas Archer code that i’ve modified. But when I select “0” on the DIY the biped springs up as if its trying to do a ski jump. I keep getting lost in the code. I was hoping some one could show me how to edit the offsets. or should i just move the servos. I’ve set all the servos to center using the servo programer. any help would be great Biped_Arc32.zip (49.6 KB)
I get some odd results when I select to turn him on, but this is random. The legs start to move on there own.
Might be my battery running down. I need to recharge them all. Even my servo programer(HFP-10) is starting to act odd.
Would not let me set the fail safes.
Hi,
So far i’ve been able to get some decent movement from my Biped. I have two small things that keep bugging me. So far I havent been able to pin point it.
1- after selecting “0” on the DIY to turn on the Biped one of the legs start to jitter. it seems to come from the servo connected to “cLHipRollPin con P1 ;Right Leg Hip Sway” and “cLAnklePitchPin con P2 ;Right Leg Ankle”
No real clue where to start next.
2- After the first time I start the Biped is seems to leen to one side. Like the left leg is shorter than the right.
I’m going to take the legs apart and make sure I set the center correct.
Thanks for any ideas.
I’m using a Mastech HY1503 (0-15 volts 0-3A) lab power supply to power my servo’s would that cause the jittering?
[code];--------------------------------------------------------------------
;[BODY DIMENSIONS]
cHipVertLength con 29
cCoxaLength con 29 ;Length of the Coxa [mm]
cFemurLength con 75 ;Length of the Femur [mm]
cTibiaLength con 70 ;Lenght of the Tibia [mm]
cROffsetX con -42 ;Distance X from center of the body to the Right Hip
cROffsetZ con 0 ;Distance Z from center of the body to the Right Hip
cLOffsetX con 42 ;Distance X from center of the body to the Left Hip
cLOffsetZ con 0 ;Distance Z from center of the body to the Left Hip[/code]
Yes I’m using a separate power source for the logic ( a 9V 1A wall wart ) and a Bench power supply for the servo’s (0-15V/0-3A)
You should at least change the femurlength to 57 since you are using the two short C-brackets. Also check the R- and LOffsetX, they may differ from my Archer.
Zenta,
I did see that you used the longer brackets But it didn’t dawn on me to correct the Body Demensions. I’ll make those changes when I get home.
Thank you
Phil
Zenta,
I made the changes you mentioned and that seemed to make things more stable. I can now see the servos that aren’t set properly. Thanks for the help
Hi,
I’ve been trying to understand the code better(Slow progress). but I was able to make a small video to show some of my progress
I still need to resolve some issues as you can see.
Hi,
I think I found one of my problems. I had used PKT_LJOYUD to replace the use of PKT_LPOT since I do not have the extra pots on my DIY. I found that the easiest thing to do was use PKT_LSLIDER to control the height and set the InputTimeDelay to a constant. That seemed to give me more stability. I still have some issues after moving the Left joystick in the Left/Right positions. The biped wants to do what it wants.
I/m not sure how to go about isolating this. any pointer would be great
Its a bit hard to say whats causing this but I have a feeling it has something to do with the normal knee vs reversed knee. I think there are some parameters I’ve not tested in normal mode since I use the reversed mode. It would also help if you told us exactly what you are trying to command the robot to do in the video. I do have a plan to one day make a full humanoid with normal knee config. At the moment I don’t have time to test out the normal knee mode. I’m sorry for not being able to help you much right now.
I 'll see if i can follow the code. That was my first video i’ll make another one that shows where it starts.
This is my plan. I already have the upper torso. I’ll keep plugging along this has been a good form of mental gymnastics for me.
Thanks all for your help and patience
in addition to the wires pulling the bot downward, the servos seemed to move way to fast in some instances. If you are shooting for dynamic balancing, I am not much help in this area. I like to create static walking gates and then write code to execute the various gates. Nice work so far, keep at it.
Hi all,
I had to step back and look over my Biped. I was able to clean it up some. I still have some odd things going on that I can not pin point. But so far I’m have with my results
Jim, i should of read the Assembly guide vice just looking at the pictures both my Ball Bearing Hubs had 10 bearings correcting that took alot of the slop out
We are firm believers of sending an extra small thingy, so if one is lost in assembly we don’t have to send another. So yep that would do it. lol Good job on the biped progress! 8)
)
I’m using a Mastech HY1503 (0-15 volts 0-3A) lab power supply to power my servo’s would that cause the jittering?
