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Author Topic: 4dof Quadruped robot (T-Hex type) AXIS  (Read 3811 times)

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Offline innerbreedTopic starter

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4dof Quadruped robot (T-Hex type) AXIS
« on: July 29, 2010, 09:37:44 AM »
Meet AXIS
here are some pictures before adding servos.
the chassis is hand cut from some Black PVC with a Stanly blade. i would love to have the tools to do things like this properly.  :|

anyway...

you will also notice in the last picture, just above its right front legs i caught a "fly" in the picture.  8)









VIDEO:
AXIS (T-hex type) QUADRUPED robot
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Offline voyager2

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #1 on: July 31, 2010, 08:56:17 PM »
That is beautiful!
LOL, caught a fly in the picture!
And Admin said "Let there be robots!"
And it was good.

Offline amando96

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #2 on: August 01, 2010, 05:42:51 AM »
Looks awesome dude  :)

... as for the fly, get your chop sticks out.
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Offline AdvsNoob

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #3 on: August 02, 2010, 07:29:21 AM »
Super smexy man! Good job haha, And for the fly.. YOU MENT TO DO THAT HUH! im sure it was the robots sexyness that made it stay in the shot to tell all its friends he was there!  :D

Offline innerbreedTopic starter

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #4 on: August 04, 2010, 11:04:33 AM »
Project UP-Date:


iv added the top housing. not massively impressed with it but its done now and it was a pain stripping down and rebuilding the stack.
Iv also had to Place the ABB on the top as it was very tight in the housing and it would be a pain to get to as im still testing code.




Chassis top.



Im going to order the new ARC-32 servo/microcontroller
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Offline innerbreedTopic starter

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #5 on: August 05, 2010, 10:29:09 AM »
AXIS has had a Face lift.

Mainly to save some money on getting a new chassis cut and investing in a new board, etc.
I still need to tidy up the wires and make a few tweaks but apart from that, im happy with it.  8)
ISO view:

Front close:

Rear view:

Front view:

Top view:


you may notice i have adopted the MSR-h01 hexapod chassis to create this idea.
Chassis cut:




Any thoughts?[/quote]
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Offline Loligo

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #6 on: August 05, 2010, 04:39:25 PM »

A noob admirer here. This is only the second time I've seen a video of a walking robot that shifts its weight over (or closer to) the supporting leg(s). This is beautiful, and it takes a design-lesson from nature. Is there any doubt that this will lead to less dorky looking biped walkers? It is surely the key to getting rid of those biped "gaits" that just... seem... clunky and, well, wrong somehow, when you watch them "walking".

 -John

Here's the youtube key for the biped weight-shifter from my bookmarks.
watch?v=k1vObkL4UAw



Offline innerbreedTopic starter

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #7 on: August 08, 2010, 12:25:07 PM »
Here is another video showing the new chassis.
AXIS (T-hex type) QUADRUPED Robot partII
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Offline Canabots

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #8 on: August 08, 2010, 03:30:00 PM »
Wow, that makes me feel slightly shameful of my current quadruped design...(goes back to the drawing board).

Seriously man, that is fantastic. Keep up the good work.
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Offline innerbreedTopic starter

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #9 on: August 08, 2010, 03:56:36 PM »
Thanks for your nice comment there. its been a challenge of mine to get a quadruped walking this year due to an unsuccessful attempt last year. so far i have managed to get two quads walking.  :D

my next plan is to add Ground Contact Force Sensing Switches to the Feet. (tars) for terrain adaption.
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Offline WhomBom

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #10 on: August 10, 2010, 07:10:34 PM »
wow, that's a great bot! how many DOF does it have per leg? 4?


-edit: just looked at the title; all clear now :P
« Last Edit: August 10, 2010, 07:15:58 PM by WhomBom »

Offline innerbreedTopic starter

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Re: 4dof Quadruped robot (T-Hex type) AXIS
« Reply #11 on: August 11, 2010, 04:43:48 PM »
hi, thanks.
im planning on adding some contact switches to the feet (tars).





Once i have built them and written the code i hope to be able to walk over anything. at the moment flat ground works best so these should help with terrain adaption.

We know and expect the obvious with using terrain adaption:
The chosen leg rises and falls in till it detects surface, then next leg is selected to rise. 

My idea is to write the code so that the leg rises and then falls to the floor as normal but once it gets to the "Out_of_Reach" value (no surface detected) it will then rise again and replace its trajectory in another location in till it finds the floor. kinda like if you made it walk over a drain.


i think that might be quite interesting to watch.  :wink:
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Jonny Poole,
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