to mark as completed The Stag Mark 2
Hi LMR!
So I have made some significant progress in the Stag project and I thought it was time to post it.
The quad in my last post was Stag Mark 1, Mark 2 is almost twice the size of its predecessor and now 100% more autonomous. Mark 2 uses a combination of HerkuleX DRS-0101 and DRS-0102 servos from Dongbu Robot to get around and it can now see with an ASUS Xtion PRO LIVE camera. The controller is still a PandaBoard ES running Ubuntu Server 12.04 and the body was printed on a RepRap Mendel.
Mark 2 also has an IMU and foot sensors it uses to autonomously traverse unknown terrain. It is also (somewhat) capable of recovery if it losses footing.
The video included in this post shows the Stag navigating an obstacle course and also shows some of the work I have been doing on a dynamically stable trotting gait.
For (slightly) more information visit my site www.stagrobotics.com or just ask here.
Questions and comments encouraged!
-Matt
autonomous navigation of unknown terrain
- Actuators / output devices: HerkuleX DRS-0101 and DRS-0201 servos
- Control method: autonomous and manual control
- CPU: OMAP4460
- Operating system: Ubuntu Server 12.04
- Power source: 3S LiPo, tethered
- Programming language: C++
- Sensors / input devices: 9DOF IMU, Xtion PRO LIVE
- Target environment: indoor