@potobill The axon's capabilities have nothing to do with why the robot goes so slow. When I built this robot I did not calculate torque requirements and purchased underpowered servos. Basically at this leg configuration it barely has enough torque to walk. When not underload the axon can actuate the servos very quickly.
Servo speed is also a problem, and since there are no encoders, I am forced into a 'race condition' and commanding the servos to positions greater than their observed positions, for the sake of increased 'leg omfph'. What is in this video is a result to discrete experimental angle commands, not something calculated or sensed by the robot. The axon though has been very good to me and I would recommend it to anyone.
Well the way I look at it is that if you skimp of the parts or the math you don't get the result that you want and then you've wasted your money. That's how I got in the situation I'm in now, and why it took me soo long to get my robot to stand :(
Thanks! I appreciate the support. I really like your biped although it seems like it could take bigger steps. I know you're probably happy with your NiCad batteries but I would really recommend to any roboticist the A123systems batteries. Each cell gives me 2.3 Ah at 3.3 V and 60 Amps continuous. You should check them out. They are well worth the investment. I even accidently shorted two of them out for well over 10 seconds and they still charge and discharge like normal. VERY durable.
I just have a question...is there more room for speed with this robot while using the axon???? Or is that the fastest it can go???
potobill 1 year ago
@potobill The axon's capabilities have nothing to do with why the robot goes so slow. When I built this robot I did not calculate torque requirements and purchased underpowered servos. Basically at this leg configuration it barely has enough torque to walk. When not underload the axon can actuate the servos very quickly.
thesa1nt01 1 year ago
Servo speed is also a problem, and since there are no encoders, I am forced into a 'race condition' and commanding the servos to positions greater than their observed positions, for the sake of increased 'leg omfph'. What is in this video is a result to discrete experimental angle commands, not something calculated or sensed by the robot. The axon though has been very good to me and I would recommend it to anyone.
thesa1nt01 1 year ago
The NiCad/NiMH packs were more for convenience and cost. I'd like to upgrade to LiPO or those A123's as you suggest when funds become available. :)
mramirezjr7 2 years ago
Well the way I look at it is that if you skimp of the parts or the math you don't get the result that you want and then you've wasted your money. That's how I got in the situation I'm in now, and why it took me soo long to get my robot to stand :(
thesa1nt01 2 years ago
Cool! Glad to see you got it walking.
mramirezjr7 2 years ago
Thanks! I appreciate the support. I really like your biped although it seems like it could take bigger steps. I know you're probably happy with your NiCad batteries but I would really recommend to any roboticist the A123systems batteries. Each cell gives me 2.3 Ah at 3.3 V and 60 Amps continuous. You should check them out. They are well worth the investment. I even accidently shorted two of them out for well over 10 seconds and they still charge and discharge like normal. VERY durable.
thesa1nt01 2 years ago