UA RNSL Intel Hexapod: 3D Balance Gestures

Website: http://www.12centdwarf.com
Twitter: https://twitter.com/blegas78

Hexapod robot designed at the Robotics and Neural Systems Laboratory (RNSL) at the University of Arizona.

The hexapod is using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 with Intel Atom Z530 Processor computer running Ubuntu 9.04, with a custom PIC18F4550 based USB board to pipe motor control protocol.

This is a demonstration of the new leg design which is much more solid than the previous design. Also, new 3D balance gestures have been included based on a spring model. Balance gestures are shown both turned on and off for comparison.

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

[mark11original]

Thats excellent. I want to build a Hexapod, just wondering why do you need three different types of servos? (AX-12, RX-10, and RX-28 servos) I am a beginner at robots and I have only used servos with 3 wires (Hi Tech 645 servo), would these be good enough or should I get better ones?

[blegas78]

You don't need three types of servos for any reason. I just like the Dynamixel motors because it is possible to read their state through the serial protocol.

The 645 servos are great for hexapods

[aguirrea]

Great Job, Congratulations!

I'm trying to control an AX12 motor with a pic18f4550 and I have troubles to initialize the serial port at the baud rate the AX12 need, I will be pleased if you could post or send me a snippet of code with the serial initializing of the pic18f4550 to properly work with the ax12

best regards

Andrés

[blegas78]

Configuring the USART largely depends on the oscillator frequency. I have a 48MHz oscillator (FOSC), so to communicate at 1Mbps I set the baud rate register (spbrg to 2 ( solve this: FOSC / (16 * (spbrg + 1)) = baud rate). Other than this, make sure you have one stop bit, are sending only 8 bits, and are in high speed mode. Google MCC18 library and use those functions if you can. Good luck!

[S7ranger168]

OH MY GOD!!! It's a freaking Replicator!! :P

[tyrokiller]

Now make it run. ;)

[fabiolus2007]

Ok beta version completed. Now way bigger scale to build mouaaahahahaha

[jumper0122]

The locomotion's almost perfect, except it drags it's feet a little... Wonderful 3Dprint job :D Well done

[Erik John Jacob]

I guess the biggest problem right now are the batteries! :D

[Tanner Thomas]

ROBOTSSSS RULLLEEE!!!

[Tyler Durkota]

How old are you? I am only in high school but I am on a robotics team (search YouTube and google for Walton Robotics) and might be able to at least point in the right direction.

[threepackbigmack]

i have 0% of knowledge about building robots but this is my goal, my dream, and my future to build robots and major in robotics and become a robotic engineer. Where should I start?

[Nomoreidsleft]

Wow, that's probably a very expensive piece of equipment.  Check out what Odbot has achieve with some chopsticks and plastic:

watch?v=7hG6Amnb9Mo

No, expensive 3D printer, no expensive 3D modeling software, no expensive servos, and he managed an extra 2 more limbs for eye stalks. So, his is actually a Dexapod.

[bogdanbosss]

Great, now make it the size of a tank , put some armor and a cannon on it and you my friend are rich.

[Jackie Pan]

All it needs now is a torso-mounted turret ;)

[THEIRONMAN9]

ARGHHHH KILL THE DANCING SPIDER !!