Archive for November, 2009
Forum member Xdream is working hard towards not only creating a bipedal Mech Warfare entry, but making it completely autonomous… and so far, he’s made some pretty solid progress. Heck, it’s more accurate than my current remote control setup. Check for updates on his project in the Autonomous Mech Thread.
Also, for those looking for an inexpensive bipedal Mech Warfare platform, the BRAT based Mech project over at Lynxmotion is turning out to be quite promising, with complete build instructions and code available.
The major changes in 2.0 are fixed point calculations to lower the cycle time.
Separate files to easy change remotes or hexapod settings. This will allow the user to simply add the correct remote file and hexapod file to adapt the code for different hardware without having to hack in to the core.
Single leg control to directly control one of the legs. This can be used with or withouth balance mode.
GP Player support. This allows the user to play sequences that are stored inside the SSC. This will need the current GP firmware for the SSC and a bi-directional connection between the BAP and SSC.
Here’s a full list of the new features:
;NEW IN V2.0
; – Moved to fixed point calculations
; – Inverted BodyRotX and BodyRotZ direction
; – Added deadzone for switching gaits
; – Added GP Player
; – SSC version check to enable/disable GP player
; – Controls changed, Check contol file for more information
; – Added separate files for control and configuration functions
; – Solved bug at turn-off sequence
; – Solved bug about legs beeing lift at small travelvalues in 4 steps tripod gait
; – Solved bug about body translate results in rotate when balance is on (Kåre)
; – Sequence for wave gait changed (Kåre)
; – Improved ATan2 function for IK (Kåre)
; – Added option to turn on/off eyes (leds)
; – Moving legs to init position improved
; – Using Indexed values for legs
; – Added single leg control
The software will be uploaded to my Project page.
Lynxmotion will also update the phoenix tutorial. This will include a link to the software as well. I’m sure they will notify us when the work is done.
And here’s a rather lengthy video demonstrating the new Phoenix code in action!
Our good friend Jon Hylands has finally returned to producing his widely popular 3rd party Bioloid add-on & accessory boards, and they are now in stock and ready to ship! We have had a huge demand for these and many people were disappointed when production was stopped, but we and surely many others will be glad to have them back.
The Bioloid USB Bus Board provides a transparent and simple connection to the AX-12+ Bioloid Bus. This board allows your PC to communicate with Bioloid bus devices (AX-12, AX-S1, IMU, etc) using a USB cable (not included) at speeds of up to 1.0 Mbps.
This Bioloid I/O board gives your Bioloid robot the ability to connect to almost any analog (0-5 volt) sensor. It includes 6 analog inputs (10 bit resolution on each). It also includes four general digital I/O pins, and can drive one or two DC motors using either locked anti-phase or sign magnitude PWM.
This Bioloid Foot Pressure Sensor includes one board, four .2″ FSR pressure sensors designed to be attached to the Bioloid foot, and the wiring necessary to connect the sensors to the board.
Pressure sensors on the bottom of your biped’s feet will allow the robot to sense whether or not it is in balance if it is on a smooth flat surface.
The arbotiX Robocontroller has been a hit so far in the robotics community! We’re starting to see projects popping up that take advantage of this awesome new controller, and specifically a few quads have caught our attention in the TRC, so we figured we’d share.
lnxfergy’s new lizard-inspired quadrapod, Sally:
And finally, lnxfergy’s fully autonomous Firefighting robot, Issy:
Some great progress so far and we can’t wait to see more!
On a side note: We’ve been a bit quiet lately because we’re in the process of moving to a much larger facility where we can build bigger, better robots! We’ll get caught up soon.