Sixaxis Controlled Hexapod

( Please see new video for current status: http://tinyurl.com/newlegs )

Hexapod robot using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 computer running Ubuntu 9.04. The Fit-PC2 has an Intel Atom z530 1.6GHz processor. A custom PIC18F4550 based USB interface board was built to pipe motor control protocol.

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 work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.

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.

Category:

Science & Technology

Tags:

• hexapod
• robot
• dimension
• inverse
• kinematics
• 3d
• printer
• fit-pc2
• pic18f4550
• rx-28
• rx-10
• ax-12
• robotis
• robotics
• Ps3
• sixaxis
• embedded
• atom
• z530
• intel
• linux

[kaushik56]

Awesome!!!

What did you study ? ...

Mechanical Engineering ?

Robotics ?

[blegas78]

Thanks! I am a senior in electrical engineering, I graduate in May.

[mmurfin87]

Looks awesome! Its a little wobbly though. I'm sure you've probably though of this, but adding a threshold value might solve that. All accelerometer input below the threshold is ignored, and only input above the threshold is acted upon.

Can't wait to see more videos!

[blegas78]

It is mostly wobbly due to the tibias being really flexible. In the next version I have upgraded the femurs and tibias, and so far it is performing much better.

Hopefully I'll get a vid of it up soon.

[blegas78]

take a look here for a quick video of the new legs:

twitvid(dot)com/96150

[Genshyu]

Wow, exelent job... I'm curious, how long did it take you to do this? Not to mention.. did you do everything yourself or have someone help you? The programming would be intense...

[blegas78]

I started in February this year, but I had different goals in mind at that time which were unrelated to what you see. Overall, I would say that it took four months total to build from scratch.

I did all the work myself, from the mechanical design to the electronics to the software. I am still working on it to improve control and to make it more intelligent (adding vision).

Anyone can do it, as long as they have determination! :)

[PureRebelM1ko]

tell me that with x it jumps!!

[ThePspgamereview]

even xbox has dumb bestilt 360!

[dudeMFman]

@mateigaman12 i was making fun of xbox -___-

[MegaKingOfPlay]

Thats in the Collectors Edition of MW3 :D

[pauloedipo3]

Its alive !!

[daleg1035]

F-A-N-T-A-S-I-K I can't say anything

[pufixas]

This would be nothing without software...

[ladycabadon]

Awesome!!!!!!



[otamanlvhs]

@blegas78 if you don't mind.How hard was it?I like everything about electronics but I'm not strong in math and can't decide.

[flyingspagetti]

Skynet Project ................... 20% Complete

[DrM4YANAISE]

its... alive