Roz

Let's Make Robots Robots
1

Roz is a Bioloid-based quad walker.

It has a BeagleBone Black linux single-board computer controlling it using Python. The Bioloid bus is connected to the BBB over USB using a custom bus board I designed. Roz uses three Sharp GP2D12 IR range sensors for obstacle detection. They are connected to the bus using a custom I/O board.

Roz uses a modified version of NUKE (ported to Python) for inverse kinematic based walking.

This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/roz
2

Its running Ubuntu 13.04. I

Its running Ubuntu 13.04. I gave up on wifi - it just isn’t reliable enough, and I couldn’t get the AP code to work at all, so I switched to bluetooth.

The code for Roz is on my Github repo - really just a few python scripts.

I have plans for the dual usb webcam mounted on the head, but right now it just looks pretty.

3

Its movement is very natural

Its movement is very natural and fluid.  Nice job with the IK!   I will have to find out about NUKE, never heard of it.  Thanks for sharing. 

Regards,

Bill

4

NUKE

You can find out more information about NUKE here. The earlier version of Roz, which used an Arbotix, used the normal “generated” NUKE for IK. This version, which is running Python, uses a hand-coded Python version. Mike (the guy who invented NUKE) did all the hard work in PyPose - I took his Python code and modified it to run with a gait, and got what you see above.

5

This both looks fun and

This both looks fun and impressive.

The movments are really nice and smooth.

My WIP Chopstick inspired project is so impressed that it has to be finished quickly now :wink:

6

Awesome BBB project

Very cool project. I’d really like to see your USB adapter design. I did up a project controlling AX-12s right from one of the Beaglebone on board UARTs using the PRU-ICSS subsystem. You can see it here:

https://www.youtube.com/watch?v=z5divx1HFUs&t=5s

I am having some problems with noise and properly grounding things. Would love if you could provide some input. I can send along my crude schematics so you can see what I’m working with…