Hexapod - walking robot

[Aleksej1616]

well thought out

[MrQuijibo]

Awesome! Love the robot, but the thumbs up is for the music

[faye11221992]

sir.... can I ask for the documentation of this project???? I'm having project similar to this

[tunik71]

@faye11221992 unfortunately it's all in Polish, so I don't think it may come in handy.. :(

[riojaneiro1000]

@tunik71 my friend, do you have this project ??? no problem if it in Polish.

I wait an answer. thank you

[SuperBmxbadass]

Haha im watching transformers right now

[vikaskarade]

You need to work on the body design. Same DOFs, numbers of motor and programm deserves a better design....

[MabinogiSheep]

u can make a robot and code it.

but cant put a video in HD?

[xxackhorsexx]

Doc Tunik........ nice Job....

[JokingwithJoe]

are you using a remote, if not (terminators, get ready john conner)

[robsy101]

do you programm that with visual studio C#?

[tunik71]

@robsy101

yes, indeed.

[MrMatttew]

mac gyver!

[viroware]

Nice, i wana start working with electronics on robots ect. Have you got any advice for someone new to electronics, I know basic thing on how to solider ect. and simple circuits but not much more.

[hdirim74]

Really nice work my friend.

[reepermaple]

yeah the music was amazing but more importantly, this feat was the tip of the diamond spear

[FERRETMAN9]

choice of music.... impeccable

[AkkarinKnight]

5:29 with vibrator it is usefull for lonely girls)

[gladinebavo]

MacGyver !!!

[danijozsefke]

Great job!

[Sampson2012bot]

Enjoy how cool these robots are while it lasts. In twenty years ten year olds will be making more complex robots than this. And they will probably be able to do it in just a week. Like the MacGyver intro

[kfh13]

@Sampson2012bot

Even now you can make more complex robot in one week, BUT it's thesis !! So you must write every step you make and justify. It takes a lot of time !! 

[Sampson2012bot]

@kfh13 I know, I completely understand that. I was just noting how quickly technology takes off and something that once seemed real complex can seem ancient. Not trying to downplay how cool these robots actually are. Wish I could build robots.

[Incrue]

whats the problem with weels?

[tunik71]

@Incrue usually wheels need even surfaces. Walking robots allow movement in rough terrain.

[Helge129]

@Incrue legs are infinitely cooler than wheels, also more practical on, say, Mars, the Moon...

[azeembest]

cool pakcarid.com

[Artzka]

thumbs up if love music in this vid!!

[doyoulikewafflesyum]

i love the terminator theme!

[pinolissimo]

beautifull robot!!! the work behind is certainly huge!!! Oh! I wish i have been competent like you (electronics and mathematics over all) wow!! And also... the video is awsome!! wonderful soundtrack chosen!!! keep on projecting robots!! very well done!! cheers (I'm sorry for my english)

[aniruddh826]

very nice and great work

[r2koooolmi]

omg that thing is really cool

[SamNicJohn]

Two masters to do this?

By the way, nice use of the small servos. Takes off weight and you don't need more power since the tibia is usually vertical

[sflood1986]

Well done. I hope my four legger turns out this well.

[ger392]

Just I say AMAZING!!!!

[munchu87]

This great ! Doing a 6 legged robot for my Final Year Project as well. This is a great inspiration.

[nowimcoldblooded]

Nice robot!

Do you know where i could find something about codes on C Language

actaully i'm making a robot and i'm kinda lost in the programming stuff

[tunik71]

@nowimcoldblooded

Hi,

to be honest, I don't know any specific source with code for robotics so all you can do is to google it. google, google and once again google, just like I did. Good luck!

[RFC854]

@nowimcoldblooded ISBN 0-13-110362-8 .. 9780131103627 - The C Programming Language Second Edition. A good book about the C programming language. And for concepts, ISBN:978-0-7637-7156 .. 9780763771560, Programming and Problem Solving with C++ 5th ed. Those two books will give you a solid foundation in programming.

[TGuy2396]

I assume that most of the code is still in the computer. And that the commands being given to it, are coming from the wires that are connected to the computer. Which method are you using? serial port, parallel port, or direct memory address? And why did you chose that particular method?

[tunik71]

There is only 1 type of algorithm on micro-controller which calculates XYZ coordinates for each leg (sent from PC) into signals needed for each servo to rotate to reach desired position. I used rs232 usb emulator - robot is connected to PC via usb cable but it is recognized as a serial port therefore it can be programmed using all methods and classes for rs232 port.

[vaico]

Can you make wireless?.. put a small camera on it and spy on your neighbours

[tunik71]

I could and I even wanted, but I didn't have time. Currently robot is my Technical University's property...

[TouchStone936]

I think your project is awesome! I'm currently working on a project to make a micro-hexapod robot, no bigger than 3x5"!!

[tunik71]

great! Keep pushing hard and I'm sure it will be much better than mine :)

[TouchStone936]

Do you have a website, or any technical documents about this project?

[tunik71]

only my master thesis which is unfortunately in Polish...

[paperjack93]

it looks a wee bit wobbly, how much weight can it carry ?

Do you use the USB cable for control only, or you do calculations on the computer too ?

[tunik71]

it's wobbly because of low quality servos which cannot hold still desired position :( It can carry 1kg so 100% of it's weight. All calculations are made on a PC - it calculates which servo should be moved to which position and after that whole package with positions is sent to uC via USB cable. uC algorythm calculates positions till specific signal values for servos.. And that's it!

[Paralax1624]

Absolutely wonderful job! I love how you have shown pieces of the entire planning, design, and implementation process. It really makes it clear just how much is involved in creating something as complex as this. Listen not to the naysayers ;-)

[mrsoultwister]

It's a well made hobby project, but FFS don't make a 2 minute intro to show just your robot's motor on a flat surface, becouse that's what this is, 6 legs and a uC to control it.

[blackcrunchy1212]

@pobvic.

Get fucking Pwned. 1/6 all of your comments got pooped on.

[tunik71]

@blackcrunchy1212

Thx mate, you made my day!! Kudos for you! Cheers!

[kooyhma]

it no good

[tunik71]

your English as well ;)

[pobvic]

I don't want to be negative, but this is actually pretty rubbish for 2 masters thesis. Check out some of the lego robots for some comparison. Here are my points.

1. Too many servos for practical use

2. Requires servos to be energised to stay up

3. No sensing ability

4, No demostration of leveling or walking on uneven surface

5. No onboard power

[tunik71]

[part 1/6]

Hi pobvic,

you're flattering me by comparing me to some of the lego robots, where it's electronics, sensors etc, etc were developed by full professional team of highly experienced staff during many, many years of research and very big budgets. It's easy to just put the pieces together, that come out of the lego box.

[tunik71]

[2/6]

In my robot, everything was built from scratch. I didn't use ANY dedicated elements, any servos microcontrolers. All was put together and programmed from scratch, electronic board for servo microcontroler was also done form the beginning, whole programming interface was also written from the very first char.

[tunik71]

[3/6]

Do you have any knowledge about machine and mechanism design? If you do, then you should know how many DOF per leg are required to reach almost every point in leg's workspace which is necessary for walking on uneven surfaces.

[tunik71]

[4/6]

I didn't just choose it's shape and dimensions by coincidence, because I found similar ones on youtube... It has been designed from scratch with all machine's desiging rules and all solutions are results of calculations, simulations etc. If you aren't familiar with it, you won't understand how much work it needs to design only the structure.

[tunik71]

[5/6]

Most of amateurs and robotics fans just build their machines straight away, because they think that this or that dimension will be ok, just like that. And by coincidence they work in better or worse way.

[tunik71]

[6/6]

It doesn't have sensors because I didn't have time to implement them. It can have onboard power, but it was totally useless for design process... Battery can be adapted very easily.

I would like to see a robot in a similar shape which can stand without ANY source of power..

Thanks for your comment!

[bujasule]

SIN PALABRAS. ME LE QUITO EL SOMBRERO.

[diligomusic]

very cool

[31Sparrow]

Amazing. I'm still considering your Euclidian-centric approach. That is if you were bio-mimicking more, couldn't it be self-powered and require only one or two motors and memory wire? Your kind of machine satisfies some criteria well: could be re-created on a small level with existing parts cheaply (assuming an available electricity source) and could move in very precise ways but it doesn't seem very fast. Could be a guard dog.

[unapparatus]

MacGyver,  nice.

[IIIDarkWorlDIII]

this is so beautiful

[santorof72]

very nice you is a genius man good luck))))

[Mahajneh]

it is really amazing how you can control each leg, but is it possible to add a sensing mechanism; so the robot could sense light, movement, gases, and also what is the max speed you could have with this small thing??

i really loved the work, it's a piece of art.

[soothsayer0]

you should watch the movie "Runaway"

youtube =dot= com /watch?v=zCZY9Z6WvSY

[DETHMETALTRASH]

guaooo esta más fino, seria bueno para mis estudiantes de mecánica que lo vean, toda la presentación, la música, y la programación, realmete estupendo,..EXCELENTE..MUY BIEN...DESDE CARACAS VENEZUELA

[BruxMike]

the music it's like: warning, we are still wick but... in the future... hahahahaha the earth will be ours.. hahahaha

[MrSatyr88]

jestem pod wrazeniem :) dobra robota, zazdroszcze wiedzy. planuje Pan stworzyc jeszcze jakiegos robota?pozdrawiam

[vagyrgr]

does it uses the usb cable to power up the motors or is it just for the control?

also what did you use for the programming?

[BraadleeB]

we made a four legged one in robotics and we used a ps2 remote to controll it

[howitzerm777]

easy

[1edfgh]

how did you make it

[tunik71]

ambition,hard work, some free time, knowledge and supervisor assistance my friend :)

[orgad]

i wonder, how did you do the legs with the part of "how much it should move", i mean did you do it blind in the code and wrote that it should move at this speed for this miliseconds or did you do something like adding a switch that is pressed when the leg reaches its limit?

[tunik71]

It was all calculated using "invert kinematics" matrix techinque. Thanks to this special callculation all I had to do is to tell the controlling software XYZ coordinates of robot's foot. Invert kinematics does the rest - it calculates what angle each joint should be rotated to reach given position. No guessing, just maths..

[thedogmaster99]

so I'm new at the mechanical engineering stuff, but completely fascinated with everything that can be done. I'm only 16, but I'm planning to get my degree in mechanical engineering. Where did you get yours?

[tunik71]

Like copy on the beginning of the movie says: Wroclaw University of Technology, Faculty of Mechanical Engineering :)

[reallyii09]

well thats not to hard to make its awsome not to hard i can make one in a month maby if i had spare time

[AlessandroAUS]

Do it and show us then

[mrhepden]

how much do you want for it

[TioDonTomas]

Next step: radio control :)

Only 2700 lines of code? Programming language?

[GreenAce92]

oh my god! amazing!

if only the main body bent! (so it could climb boulders etc..) and better leg tips, i always see that where it is just a ball

the programming and setup is amazing! nicely done!

[tunik71]

Well.. it's easier to have at least basic knowledge, but it's not so important on "hobby" level... Just some few more experiments should do :)

[MatrixOfDynamism]

I am doing electronics, where do I fit in? is it absolutely essential to have Mechanical engineering degree?

[tunik71]

no idea man :) My robot is closer to simple machine than to 100% electronic circuit. :)

[0RobinHood1]

how can i build my own micro-video-camera?

[eyeballdude]

DUDE!! Holy crap! And I got proud of myselfwhen I "coded" my own viz for winamp! lol NASA called yet for a job offer? Keep up the good work! =)

[may9119]

5:24 wanna reproduce?

[aquilos2]

que bonito quisiera hacer uno

[elbombardi]

it will attack soon, lol

[adilabbas2005]

awesome.... dude ive no words..

its exceptional!

[ME1GTAIVFAN]

Great work sr! I think that works like yours are important for future advances in space exploration and also for improving life here on earth. I am a Mechanical engineering student also, but I am still at the bottom of my undergraduate career, so far I've only developed robots with wheels that can go forwd/backwd left/right and pic up objects with simple gripper devices. Thanks for the ideas, maybe I'll learn about how to put something togethr like that!

[pakotas92]

heres a little tip...... copy righ..... and fast

[katti786]

i m dumbfounded.

this was so sick

awsome!

[extinctoxd]

i dont know what to say

[yelton7]

lol McGyver music

[0RobinHood1]

where can I find a guide on how to do a robot?

[tunik71]

I don't know it such thing exist... Maybe for some commercial solutions... All the rest you can find on google, robotics forums etc..

[mast3rbug]

lynxmotion i think. google it

[QuareNick]

you're great! Really!

[Korzo1987]

Amazing, i've no words for it.

[fassenkugel]

"effect hunter" video and poor result..

[relaxanimal]

how nice,thats great!

[erbay36]

there is a problem thats really running model

but i got there a something wrong u if u can make it with out cables it will be fine i think

[Tzoni]

This video made the robot look like the biggest miracle in the world but it wasnt IMO that awesome.. not saying that everybody can do that

[joutube01]

T, Great job! This is a nice demonstration of the design process and many of the most common gates. I'll be sharing this with my Mechatronics students and the robo club guys. I should have time to make a vid like this of my bot (which is rather similar) in the next year or so, I would hope. She's walking, but no cool tricks and no video as yet. Please post more if your baby learns any new tricks. Rolling to the side is a fun one, but be careful with those feathers ;)

J

[7ych0]

There's almost no dragig of the feed over the ground, like so many spider-robots do, so I guess this would also work even on a larger scale.

[thelemur]

nice projrect. im finishing mmy bach in mech engineering january. im taking a course in biomechanics this year :)

[Emrald569]

if you make the two back sets of legs walk back, and have the front set go forward it could probly do the moonwalk

[cheesedude9909]

wow amazing! nice work. you put a lot of thought into this.

[Agileus]

I knew i heard blade runner in there.

Top marks, i bet synching the pentapod was pretty hard.

[SouthernQH]

impresive. know try making it biger so you can ride it

[luismcastaneda]

jajajaja.

[LucindaILUVHTF]

I bet it cost more to make then buy

[tunik71]

So please bet, and you'll loose :)

[frog654456]

dont give it a gun

[MattEvans16]

Really depends on if you can make the metal parts your self, and if you know EXACTLY what you are going to build at first, or if you are going to experiment with a lot of parts...

[DrWiz010101]

nicely Done!!!

[luismcastaneda]

lame

[frog654456]

luismcastaneda i want to see you make 1

[luismcastaneda]

if i make one it would be lame too, so what for?

dumb a$s

[frog654456]

you spelled ass wrong...

[luismcastaneda]

you see... you are really dumb.

[frog654456]

you forgot to capitalize you

[reehnruht]

ureal. hope mt thesis is the good wene i finish college.

[lolarn12345678]

Hi how many kg does the servo can i use 1.6kg or is it too low. and where did you buy the controller board, if you have the source code and som drawings on the parts you could pm me :P

Nice job.

[Niohimself]

2700 lines of code for that?? ROFL!

[tunik71]

Too much? :)

[MattEvans16]

2700, does seem like a lot, is it all written in C or ASM or what? What processor did you use?

[Kazbahn1]

nice, I've thought of another gait, similar to a millipede, where it lifts one pair of legs, moves them forwards, lifts the pair behind, moves them forwards, so on, then starts from the front again, and that could be done so that one pair of legs was starting to move just a fraction of second before the previous pair were landing. In my head it seems like that could allow the robot to move quite fast

[rockmetalero]

hey great robot, there is anyway that i can check your thesis?

[colebq]

u'r genius ;) goodbye gesture kicks out of socks :D

[grandpapolly]

That is insane...

[LastCokeInTheDesert]

Yeah yeah, but can it dance the cha-cha? :D

[JohnF30Music]

14 servos? awesome

[mast3rbug]

18 servos

[hawko84]

awesome mate, welldone, you've got skill

[melas]

great job!

[djANTIT]

nice!!

[ZyphyrOfTheWinds]

hey, I am looking into building a similar sort of hexapod for the Trinity Fire Fighting robot competition. I was wondering what type of servos did you use for the robot. I noticed there was a large servo and a smaller sized servo. If you wouldn't mind, could you tell me where you got them?

[aaqilkhan]

Very impressive design and programming. Are you building any more robots?

[malongwer]

Thanks! Unfortunately this was the first and the last one..

[Chrutonius]

That is one great robot!

Congratulations!!!

*I Bow Before Di*

[slicer364]

that is pretty beastly. check out my robot snake video.

[kruglin]

need a battery pack of some sort

[bluengine85]

I'm a student of automation.

this performance is

Amazing!!

[keroHuixco]

o yea, it is maravillous, your robots is very funny

[theamigaone]

all you need now is some frame body and a spike that retracts in and out to stab its victims then it`ll be the spider robots from the Michael Crichton film 'Runaway' with tom selek and Gene Simmons

[jiokuncaralho]

oh what the hell... I just loved the crouching! :D

[Byczyyy]

Super! Raz ze filmik ladnie skompilowany, a - i to przede wszystkim - za bardzo dobra robote(a)! :-)

Nie wiem co sie stalo, ale Wroclaw i Poznan staly sie chyba najlepszymi uczelniami technicznymi w Polsce. Chociaz chyba na kazdej politechnice robia takie rzeczy (przynajmniej na slaskiej).

Jednakze coraz czesciej politechniki i uniwersytety z tych miast mnie zaskakuja!

Ciekawe kiedy tak moj uniwersytet slaski bedzie przodowal w IT ;-)

Pozdrawiam i trzymam kciuki za dalsze dziela!

[tunik71]

Dzięki za miłe słowa :)

[tukkajumala]

Looks cool, I'm studying automation technology as well :)

All you need to do now is to give it eyes, powersource, more dexterity, mind of its own, couple guns, make it 2000 times bigger and here we go: your very own bloodthirsty, six-legged engine of brutal mayhem :)

[tunik71]

YEAH! Something like that! :> It's in progress, but shhhh... It's a secret :)

[fitosmon]

hey man, nice robot.

look, i watched your video cause i love technology and all this robots stuff.

right now, i need to do some research about spider robots.

this is a "project" as they call it in my high school. i need to compare something from the nature with another thing made by the human, and i tought that this spider robot could be a great example

please, i just need to know some basic things about this invent =D

[Guntixx]

Whats the song name starting at 03.37 ?

[tunik71]

It's "Blade Runner (End Title)" - music form the motion picture composed by Vangelis. :)

[UssenterprizeDv2]

Nice Macgyver reference

[tunik71]

;) ;)

[bunnykill100]

The thing that completely blew me away was that there IS NO BODY!!! the only weight it has for "stablitiy" is the motors.

In other words, in oder to be able to adjust height and speed and all that stuff...

I wouldn't put i past this to have gotten you a PHD (if it were that "easy")

I'm just amazed that the thing can do so much, and it looks so..well..ALIVE!!!

[tunik71]

THX mate! :) I'm happy you enjoyed it :)

[bunnykill100]

I think you should work on making it:

roll over

walk over an obstacle (arbitrary height-up to a point)

put to legs up and walk with 4-then push something

then make a movie of this thing "living" in its own world...

[1111eduard1111]

its like star wars alieve

[Shard1697]

Holy...

[TurkDogduTurkOlecek]

THATS GREAT man... Perfect design and engineering...

[Krant1980]

wow, this is very skilled work. Nice done all. And the movie/music is also nice editted. Great DONE :)

[weird0bot]

cool. has room for some improvements like a battery and active balance, but nice job.

[enajka]

Gosh... If someday I will be able to do such a thing like this... Then I will be happy... Gratulations!

[electricdude2706]

Make it wireless and put a cockroach cover on it. Then you should go scare little girls

[theboy214365]

I LOVE YOU!! (im not gay :p)

No rlly, its fantastic work what you did, hes so cute! i suggest you give it a name :) Cutest part was when he "said" goodbye =]

Bye now!

[tunik71]

THX mate!

[glassspider66]

shore about the gay thing?

u seem a littel insecure about it so may be you realy are gay.

[SOhio142]

cool robot!

[PIKACHU4584]

i will be back whahahah terminator fits perfectly cause its like the machines