Note that it appears to move, set, and adapt one leg at a time. Hmmm…, that seems familiar. 8)
Very very good work !
How would one go about wiring up three gyros to the phoenix heaped using the ABB2 and SSC32? Also Im very curious to know about the type of output gyros give out and how this is programmed?
I’d think you’d have to use some sort of IMU, and read the values in order to use the data. I don’t think directly connecting gyros to R/C servos would help in the case of the Phoenix. Is that what you’re thinking about?
I want to play with the Razor 9DOF IMU.
Alan KM6VV
well my thoughts are that if connecting gyro’s to the ABB as input device’s then can this signal be used to interface the bodys XYZ axis?
An RC gyro has a servo pulse input and the servo connects to the output. I mentioned this because you mentioned connecting three gyros to the walker, not a 3 axis gyro. I believe a 3 axis gyro has simple 0-5vdc outputs.
Yes, that’s my understanding.
Read the three gyros and accelerometers, translate accelerations into earth plane, then apply as error signals to summation in three servo loops to correct roll, pitch and yaw. Three mag sensors could also be read to give you a corrected compass (by virtue of having the three planes to correct for the plane of the “compass”.
All that might be quite a bit of computation, so an IMU with on-board uP can be useful.
For an “R/C Gyro”, you’d have to give it a normal input, and then read the output to get it’s offset (correction). It would be easier to use an IMU output.
bear in mind that I’m still studying all of this!
Alan KM6VV
Thanks for the info Jim, very useful.
3 Axis Flybarless Gyro GY080
Specification
Operating voltage: DC 3.5V-9V
Operating current drain: 60mA
Operating temperature: -15 ~65
Maximal angular velocity: 800 degrees/sec
Tail servo compatibility: 1.52ms analog, 1.52ms digital, 760us digital, 960us digital
Swash plate servo compatibility: 1.52ms analog servo, 1.52ms digital servo
Radio compatibility: PPM, PCM, 2.4G
Supporting firmware upgrade
Supporting Multi-Blade Rotor Head
Dimensions: 37.2 x 25.2 x 13mm
Weight: 20g
Thanks Alan, your info is always informative, even if you are still learning it for your self. 
Those who can’t (won’t) learn anymore will slowly die.
Alan KM6VV
New to this so… been playing ‘cathch-up’ on the posts.
I have probably ready about 50 published papers on this topic from PhD’s in robotics. All of the sucessful ones use neural networks to control gait- which I believe is the major issue. That is, the remaining 5 legs continue on their merry way when things need to change- like stepping up on an obstacle. I DO NOT believe it is possible to incorporate a neural network on a controller of this size (i.e ARC32).
I DO belive that some degree of automation for adapive terrrain can be accomplished by:
1- Use the hex body as the origin in all calculations- the ‘balance routine’- the body attitude must be a result of the foot height of all legs
2- Setting a limit of the leg lift height and joint rotations
3- Keeping the gait type to tripod only (sad)
4-Use a separate routine for lowering the leg incrementally, as it checks for foot contact
5-Use a separate routine for the swing stage of the front legs that checks for contact
6-Use a range sensor to flag when ‘not possible’ movements would be attempted
I am in the process of building the above, and I am still struggling with the code, as well as waiting on parts to be laser cut(REAL sad), but I am making progress…
Look for papers on Hannibal that was sucessful in doing what is attempted here:
Like: users.aber.ac.uk/dpb/ieee_98.pdf
And very interesting:
web.media.mit.edu/~cynthiab/Papers/Breazeal-AutoRo95.pdf- Because it demostrates the problems encounterd with using a reflexive gait vs. pattered gait (i.e. Xan/Phoenix type) controller
Any news on working failsafe “foot-conacts” ?
does anyone know why this link isn’t visible on the forum and why it only shows up on the index?
I cannot access it using C/P either?
if anyone can access the image let me know please.
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