Trossen Robotics Blog » Featured Robots

Phoenix 2.0 Software Released

Andrew — Tue, 17 Nov 2009 21:32:16 +0000

I’ll let Xan, the author of the code and fellow Phoenix collaborator, explain away:

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.

Xan

And here’s a rather lengthy video demonstrating the new Phoenix code in action!

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The Quads are Coming!

Andrew — Wed, 11 Nov 2009 21:18:17 +0000

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.

Here is forum member Sthmck’s quadrapod robot progress so far, which showcases a robot built using the Bioloid system and autonomously reacting to input from some Sharp IR sensors.

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.

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Just in time for Halloween!

Andrew — Tue, 27 Oct 2009 23:42:15 +0000

Forum member WGhost9 has the right idea; build a robotic spider to pass out candy at Halloween. Creeper2 looks like a cousin of the Phoenix Hexapod, but a bit bigger and with more powerful HS-5645MG servos! Definitely a cool way to scare some kids for Halloween. /devilishgrin

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Giger is ready for iHobby!

Andrew — Wed, 21 Oct 2009 21:08:31 +0000

We’ve been busily preparing for the iHobby 2009 show this week, but I figured I would share a little demo video of Giger. He now sports a TinyCylon eye from DaleWheat.com, and has a few new fighting moves up his sleeve, ready for some fights at Chibotica during iHobby! Walking gait is still obviously a work in progress, but what is being demonstrated in the video is the ability to pan/tilt the torso while walking, which makes the walking gait even more unsteady. Enough jabbering, here’s a bit of video!

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Giger: RX-64 Based Custom Humanoid

Andrew — Wed, 30 Sep 2009 22:02:00 +0000

With my Hagetaka project on hiatus (eventually being rebuilt using EX-106s), my efforts had been diverted to a simpler and more manageable design. Originally intended as a last minute work around for Robogames, this project ended up being a permanent effort, and one that I’ve grown rather fond of.

Giger is a 24″ custom 24 DOF Humanoid using 16 RX-64 and 8 RX-28 Dynamixel Servos, weighing in at 9lbs total. He uses the same Gumstix based onboard controller that Hagetaka did, designed by Farrell Robotics, and is powered by two 1900mAh 4S LiPo batteries.

Walking gait is being refined, I’ll have video in the near future but much progress has been made. If all goes well, I’ll have him up and running for iHobby 2009 next month! Here are a couple of pictures, for the full set that we took check out my gallery in the TRC!

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Matt Trossen, Hagetaka, and Roboard Featured in Make Magazine

Andrew — Mon, 21 Sep 2009 22:01:34 +0000

This month’s Make Magazine (Issue 19) is the yearly Robotics Hobbyist special, and features my boss Matt Trossen once again stealing all of my glory and talking about his take on the current state of hobby robotics. That is okay however, and I’m prepared to take it with stride because anyone reading this blog knows I’m the true brains behind this operation. Not only that, but I’m also better looking (it’s the beard) and I embrace an air of dignity and modesty.

Speaking of my dashing good looks and superior mental prowess; Make also featured my currently shelved and ego-crippling project Hagetaka. Rest assured; my wife and 2 year old have picked up 2nd jobs to fund this project further and it will return with even stronger servos and bigger guns, ready to assist me in my plan for world domin- err, winning Mech Warfare.

Last but not least, Make Magazine readers got a quick and to the point review of the Roboard, the first full featured Robotics Computer on the market.

But seriously, be sure to pick up a copy as the entire issue is full of fun projects and robotic tidbits sure to appeal to your average robot-geek. And like Christmas, it only comes once a year!

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