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Giger: Custom Humanoid Robot

Posted on 02/11/2009 by tyberius
Modified on: 13/09/2018
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First post here but figured I would share my most recent work; an EX-106+ servo based custom humanoid robot named Giger. This bot was designed in Autodesk Inventor, and machined from 5052 alloy aircraft aluminum using a Sherline 2000 CNC and some work from Rapid Sheet Metal. He stands 62cm tall, weighs about 5kg and uses a total of 10x EX-106+, 6x RX-64s, and 8x RX-28s. Video shown is rough initial progress, walking gait still needs a lot of work and the IMU data needs to be integrated for dynamic ...


Giger: Custom Humanoid Robot

First post here but figured I would share my most recent work; an EX-106+ servo based custom humanoid robot named Giger. This bot was designed in Autodesk Inventor, and machined from 5052 alloy aircraft aluminum using a Sherline 2000 CNC and some work from Rapid Sheet Metal. He stands 62cm tall, weighs about 5kg and uses a total of 10x EX-106+, 6x RX-64s, and 8x RX-28s. Video shown is rough initial progress, walking gait still needs a lot of work and the IMU data needs to be integrated for dynamic balancing.

 Cheers!

 

 

 

 

 

 

Update: New Brackets + Servo upgrades!

 

 

Walking, Balancing, Competing in Mech Warfare

  • Actuators / output devices: 8x RX-28 Dynamixel Actuators, EX-106+ Dynamixel Actuators, 6x RX-64 Dynamixel Actuators
  • Control method: Controlled via Bluetooth HID connection to PS3 SixAxis controller.
  • CPU: 400 mhz Verdex Pro
  • Operating system: Buildroot Embedded Linux
  • Power source: 4S 14.8v 3800mAh Battery
  • Programming language: C
  • Sensors / input devices: Wifi Camera, ADIS 16355 IMU
  • Target environment: indoors
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