Posts Tagged ‘EX-106’

Giger v2.0 – Initial Walking Gait Progress

Tuesday, March 2nd, 2010

New upgrades! Giger now uses 10x EX-106+, 6x RX-64s, and 8x RX-28s for a total of 24 DOF.

Giger’s upgrades got finalized late Sunday night and I had a bit of time to sit down and start to work on the walking gaits (from scratch). The EX-106+ is roughly 4x more precise than all previous Dynamixels, so the positional values do not translate over well when upgrading from a previous model. What does that mean? It was far simpler to just start over rather than try to scale the values step by step. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were designed in Autodesk Inventor 2008 and machined by Rapid Sheet Metal. It’s worth mentioning that all of the custom, as well as the stock, brackets and frames that are used in Giger’s arms and legs are available in our store on our Dynamixel Servo & Bracket page! Even his ankles/hip joints or his entire legs!

A lot of projects tend to only show updates after many dozens and/or hundreds of hours of progress, but I like to show the little steps as I feel it gives one a better view of the evolution of a project and what goes into making a robot work. Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, it can then be sped up to a more realistic, useful speed. Here’s a short video of my initial walking gait progress (about 2 hours of programming work so far) on Giger 2.0:

Giger: Humanoid Robot Overview

Wednesday, February 24th, 2010

I’ve been busy at work with Giger installing some upgrades before Robogames (in the tune of 10x EX-106+ actuators, as well as brand new machined brackets from Rapid Sheet Metal). That said, we decided to use some of the random footage we had taken of Giger to give an overview of the robot in it’s first revision, when it only had RX-64s powering its legs. We’ll have a lot more information, pictures, and video on Giger v2.0 in the near future!

BTW- If anyone is looking for a solid place to get some sheet metal cut/bent or some parts machined, check out Rapid Sheet Metal and their sister company Rapid Machining. I’ll give a bit more in-depth review of them in the followup post where we’ll talk more about Giger 2.0, but I was absolutely blown away by their quality and customer service, so I’ll say it here as well. Check em out! Tell em we sent ya! =)