User Dan Thilderkvist used a Trossen Robotics PhantomX AX Hexapod in his master thesis, “Motion Control of Hexapod using Model-Based Design”! This hexapod keeps itself level as a table beneath it is tilted, jostled, and generally jarred about. Short video, excellent work!
Forum User tigakub has made a hexapod of his own design, and there is a fairly active forum post to join in on. The legs remind me of prosthetic running blades, which is not only a cool form to take, but they add subtle functionality as well. This robot has been upgraded several times throughout the thread, and it is interesting to follow its evolution! This video is one of a few in the thread, showing off the Adaptive Load Balancing abilities of the robot.
At the recent (July 2015) We Connect the Dots Creating STEAM conference, Team 1 programmed a Trossen Robotics HR-OS1 to stand itself up! This is an essential movement for a bided robot so that it can can back up on its way after a fall. It’s exciting to see students with an active interest in robotics achieve – Go Team 1! We Connect the Dots is a great organization, which focuses on getting students involved in Science, Technology, Engineering, Arts, and Math (STEAM) careers. This video is just a small glimpse of the scope of their project, so make sure to check them out
We’re really excited to see what else the students can do with the HR-OS1s. We know we’ve got a wishlist of things we want to see the robots do – but what about you? Let us know in the comments what you’d like to see the HR-OS1 do.
One of our favorite roboticists, r3n33, has been up to some magic with lite and mirrors. R3n33 has used a spinning mirror to get a 360 degree view with a LIDAR-lite sensor, without moving the sensor itself. The results speak for themselves, but here’s what r3n33 had to say about it:
This is my idea for using the LIDAR-lite sensor to produce readings in (as close to) a 360 degree view without spinning the sensor itself. I decided to start this project to give some life to my sensor which had never had a real purpose until now.
Thanks to my 3D printer I was able to quickly produce a “rig” to hold the sensor over a mirror. The mirror is attached to a 3D printed plate that is designed to hold the mirror at a 45 degree angle. This will allow me to bend the light 90 degrees from the sensor’s emitter. The mirror holder is attached to a stepper motor that will allow me to rotate the sensor’s light in a 360 degree view.
Before I go on I’ve presented a few issues.
Blocking the view. To hold the sensor over the mirror there will be an arm somewhere in the 360 degree view. I’ve already taken some action here and removed some of the arm material. In fact if I remove too much more the PLA plastic I’ve used won’t be rigid enough to hold the sensor still.
The mirror has to be quite large. This is something I discovered along the way. When it was just an idea in my head the mirror was really small but to ensure both the emitter and receiver are 100% in view I had to use the size you see.
Knowing the mirror position. Because I’m only using a stepper motor for this first design I get no positional feedback. I’ll have to assume the mirror position by starting the motor and firmware at a known point.
Reading accuracy. By bending the light alone there is going to be a small offset introduced. Then there is the ever changing distance of the mirror as it rotates. I chose to align the emitter of the sensor to the center of the mirror. This ensures the light will project in a parallel plane. When the light is received it might bounce off the high side of the mirror in one direction and the low side on the other. I may or may not concern myself with such slight offsets introduced in the readings.
Ok, Ok, this actually isn’t a battle between a cat and a Hexapod, but its a video with a cat and a hexapod, so that counts for something, right? This video, uploaded to user NOXGENUS RECORDINGS on YouTube, features a Trossen Robotics PhantomX AX Hexapod with Dynamixel AX-18 servos running Phoenix Code. The user mentions having blown a cell in the LiPo battery in the video description, and it is advisable to take caution when charging, storing, and using LiPo batteries. This PhantomX exhibits some interesting gaits, and is generally amusing to watch (look for the cat). Though we don’t officially support the Phoenix Code or Firmware (it is a community driven project), we offer a guide to get anyone interested started with it!
We’ve designed several new RobotGeek kits to get you started in the world of physical computing. Each kit comes with our Geekduino and sensor shield for easy programming and wiring, as well as a RobotGeek Workbench to mount all of your electronics to.
At the core of the RobotGeek Arduino kits is the workbench to mount your projects. All RobotGeek products are compatible with the bench and each include mounting hardware giving you the opportunity to continue to expand your portable arduino workstation!
3d Printed Shells are up at Shapeways!
The HR-OS1 Orion Armor Set is in beta but available for download, printing and customization at the Interbotix Labs Shapeways Store. *please note 3D printed shells are still in beta phase as maximum payloads have not yet been established.
GitHub Repository Active!
Check out our Github Repository for the latest software, 3D shell files, Arbotix Pro firmware and design files and the HR-OS1 Framework! The framework is completely open source so you can tweak current behaviors and build your own custom software on the HR-OS1.
Beta Pre-Order Round Two, Units Still Available!
Make sure to reserve your HR-OS1 before they’re gone again! We started with only 50, and they’re running out quickly!
User QuadFu/r3n33 created brackets and grills, fitting 30mm fans to the femur AX-18 Servos on their PhantomX Hexapod. Femur servos do tend to run hotter than the rest and this improvement can increase run time and servo longevity. They also look pretty sweet, and the Hexapod is very flashy. Definitely worth a look.
We’ve gotten some feedback, written some code, shored up some documentation and now we’re ready to release 50 more HR-OS1 Endoskeleton Beta kits into the wild! Pre-orders are available starting June 22th and will conclude when the 50 units are exhausted. Get them while they’re hot!
After two and a half years of daily use, we decided it was time to swap out the honeycomb bed on our laser cutter. After a while, one forgets how clean these things actually start out.
This fella has served us well for over two years.
This comb is charged with the task of serving us for years to come.
The sun has set on one honeycomb, and the crown has been passed down to a new one. Goodnight sweet prince, long live the new king.