Lego mindstorms NXT Biped X 2 5 First Steps

First steps of a 10 dof biped, baby steps. Test to see how leaning as a weight shifting will work with a Lego Biped. Future programs to test walking in longer strides, stepping sideways, stairs and stunts.
Specs:
1 NXT
10 Nxt srevos
4 Mindsensors NXTmx
200+ gears

Category:

Science & Technology

Tags:

• Lego
• Biped
• Mindstorms
• NXT
• 222doc
• Robot
• X2
• Robotics

[Parax77]

Nice to see your still working on the biped >:o) it would look so much better if you could make some of the motors drive simultaneously rather than one after the other, you could achieve this with a series of steps in a data file where each step has a list of target motor position for each motor, then when it moves from step to step it can move all the motors that need to move at once.

[222Doc]

@Parax77 Right now i am calling 6 motors at once. I did not call the other 2 other leg right now because I am looking at its gate "Baby steps". if i lenghten the gate the ankles may well be needed as well , that will be 10 motors. One issue I am having is amp draw on the external battery box and total in the NXT running all these Mxx's. This thing iss eating power at very fast rate. Evem in NXG you can run as many motors at once as power allows. the mxx's support multi commands as well.

[linkxsc]

dude, awesome, only problem is its so slow, but then again the lego nxt motors have never won any records for speed or poweroutput, thats fckin crazy though

[222Doc]

@linkxscLego servo motor is a reduction geared that has about 180rpm. Since this bot is pushing 4 kilo's, gearing these motors up is not an option. I could gear it a bit faster , that would be ok for walking but not climibing steps. Since climbing steps the bot must be able to lift is weight with one leg. Trying to build these from Lego is the main challenge for me, I could use other systems that are far and away better. But that has been done. X-2 is the first Lego Biped to climb stairs ever.

[xandersoldaat]

Very nice job. That must've taken a lot of tweaking and fine tuning to make it walk that well.

[222Doc]

@xandersoldaat Thank you Xander, right now its just going through mechanical movement testing. So the programs are as simple as possible to test them. Last night I found a small issue when I had it do a squat, the hip and knee motor placement conflicted with ankle motors. No big deal as they are easy to move about. But if i do not check for "binding in any possition they come up and if I do not see it eary can cause a major malfunction, "Huston we have trouble" :)

[MrQuadraguy]

wow just wow!!!!

[janixus]

wooooooooowwwwww A.W.E.S.O.M.E.

[Thiagovbp]

Nice :)

[LinkShack]

that is something i want.END.