over the last eight weeks i had rarely time to work on it but still wanted to share this with my beloved community. i changed the chest to house two batteries and added a 3 dof neck and all of this changed the weight distribution so that the PID controlling the spine has to be retuned. i'd love to have a more structured approach in finding the right parameters as this is really hard work. finally, i'll need to upgrade the hardware soon if i want to add arms. the nano right now will not have enough pins to control the relay, ultrasound and the servos. the choices are: second nano via i2c (nice and easy, but low computing power) or change the nano to a teensy3.1 (best computing power but hard to connect) or an arduino due (mid range computing power, easy to connect but bulky). what's your opinion on this? ps: the full construction of this version is on my blog: http://assadollahi.de/trashbot-4-and-more/
walks on two feed partially dynamically stabilised
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/trashbot-v4-9dof-biped-controlled-by-arduino-nano
can you see the picture?
on my browser it seems broken, but when i click the icon it loads…
Nice work!
Congratulations assadollahi!
I like the natural way this robot look like. Maybe it does not look like a typical fine finished one, but the feeling of developed by doing. I want to see how it walks in a video, so keep going! 
the earlier versions were walking
the problem with the new version is that the gyro had to move and the weight of the upper body has changed and thus the PID has to be re-tuned. that’s cumbersome work. if the PID is running crazy, the bot is pretty much uncontrollable, so that’s why i don’t have any videos this time.
thanks!
motivates me to keep going!
older videos?
Yes, I understand you don’t have videos for new design, but do you have videos from previous version?
Love it. Is that a bike-lamp
Love it. Is that a bike-lamp for its head? I may recognize it from these old-fashioned bikes in the Netherlands. Also like old PCBs as feet. Can’t wait to see it move.
great documentation
Good you did that recording! Thanks for sharing!
I like a lot that you have all this material as we can see the evolution that your did with the robot.
The idea of self-balancing is very good too. Congratulations and I look forward for next steps
bike parts and typewriter parts.
here you see the holder of the lamp that i used for the gimbal / spine and the upper part is the lamp housing that turned into a head.
i also used the air pump holder as spine protector.
the shoulders and upper parts of the legs are parts from a typewriter: http://assadollahi.de/i-just-had-to-slaughter-one-of-my-typewriters-to-get-more-parts-for-my-robots/
