Initial Hexapod Tests

Hexapod robot using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 computer running Ubuntu 9.04, with a custom PIC18F4550 USB board to pipe motor control protocol. The robot as shown is controlled through an SSH terminal, using keyboard commands.

The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.

Inverse kinematics is used with a dynamic walking gait. The dynamics still need much polishing, as can be seen in the video. The dynamics are fairly simplistic at this point.

At the end, the hexapod disconnects itself from power accidentally. :)

Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF. The camera will use OpenCV hopefully to implement gait learning and terrain adaptation using optic flow. Bluetooth will also be integrated to implement a PS3 Sixaxis controller

Category:

Science & Technology

Tags:

• hexapod
• robot
• dimension
• inverse
• kinematics
• 3d
• printer
• fit-pc2
• pic18f4550
• rx-28
• rx-10
• ax-12
• robotis
• robotics

[innerbreed]

Great to see it walking.

look forward to next video once you have polished it up.

are you still having problems with the tibias being fragile? looked ok in vid.

looking from the front of the robot it seems the front right (hex's right) end kinematics for the leg look out slightly. you can see the tar (foot) lift while performing the body IK.

i see that its coursed by the tibia knocking into the femur servo. have you added any form of mechanical limits for the servos?

anyway "GREAT WORK"!

[blegas78]

Thanks!

The inverse kinematics are fine. One thing I forgot to mention was that the legs were very poorly calibrated, so that's why the front right foot lifts up occasionally.

The tibias are not terribly fragile, but they do bend slightly. This should be better if I use thicker thread-rod.

[half4team]

Beautifull hexapod! Allthough i think the whole pc on there is a bit to heavy! Also the rubber floorpanels don't help since the feet get stuck. My experience tells me that laminate or wooden floors work best when using rubber feet.

[kattejuice]

WOW! very organic walking!

[bestamerica]

how many servos in this robotic

[MikserWins]

nice