This robot is not as pretty as some but hey, it’s functional and has a few goodies installed
I’m using an ABB II with a SSC32 V2 and Xan’s Phoenix code that I modified to work with this configuration.
The bot has 20 servo’s
18 for the legs
1 for sonar pan
1 for Camera pan
other items…
Wireles camera for vision ( still a work in progress )
IR sensor for input
Sonar ((( Ping ))) sensor for input
Tilt/Accelerometer ( more input )
BlueTooth wireless serial
various flashing leds
1500 Mah battery ( for servo’s )
800 Mah battery ( electronics )
operation time APPROX: 35 mins continuous with 2 pan servos, leds, ping and IR running steady.
The bot is controlled by a LynxMotion Robot Controller with the sensors overriding if an object is detected.
At present the bot can detect an object with the ir or sonar detectors and then the camera will turn to look at the object ( there is no processing of the picture as yet )
The only parts that are not LynxMotion parts are the “Head” that is a head from the older Nintendo Rob the Robot which houses the SMiRF Bluetooth and the wireless cam and a couple of led’s plus wire wrap.
The upper frame is a Biped Scout upper body mounted on stand-offs, this makes a good platform for mounting servo’s and lights and such.
Hi, at present I’m controlling the head camera by detecting an object with the ping sensor…
the ping sensor is continuously scanning back and forth and when it detects an object between a pre-set distance the the information is used to turn the head servo to that direction.
example:
If pingservodirection = 1 and pingservo < center and distance > 8 and distance < 12 then headservo = pingservo
or
If pingservodirection = 0 and pingservo > center and distance > 8 and distance < 12 then headservo = pingservo
don’t know if that makes sense to you but it’s like a target tracking system using scanning sonar to target the object and then turn the camera, gun, laser or whatever else towards , or away, from the object.
I also use the sonar to avoid objects again depending on which way the sonar is scanning and have the bot turn away from the target while the head turns to the object.
It still needs a lot of refining but it’s working so far.
My intention is to use the wireless cam with Robot Realm and send signals back to the ABB + SSC32 there is a thread about Serial tunneling and i’ve played with it a-little but I’m not grasping the big picture of being able to incorporate it into the Phoenix code.
The dog thinks the robot is his buddy…we have two cats and 1 dog and in the background is the dog chasing the cat and the cat chasing the light from the head L.E.D. It’s a zoo around here.
