Biped Lego Mindstorms NXT X 2 5 First testing on steps

My latest most advanced Lego Biped. Bi-directional leaning function for
weight shifting. This gives X-2, 3 dimensional walking ability: to be able
adjust up/down, Left to right, forward/back.

I happy with the results so far with X-2's leaning function's. Though it has been alot harder to plot compared to the older way X-2 did this with just shifting a mass side to side. Leaning at the ankles and hips brings in what I can best describe as the 3rd dimensional action. This also seems to change as angles change as well. So many little correction are going on at the same time. At times up to 8 motors are on call to stay in that "window of balance". This is a very basic program right now, once again just to prove concept and mechaical ability to do a task. Building this biped has been a work of years now(hard to believe), many failurs and designs that did not work or just not well. I have thoughts for improvments of this that may or may not improve, such is the way things go. Every change means checking again and reprogramming to see what changed.

So today X-2.5 has reached the point it has now climbed up steps. I have not even started the "can it go down steps" yet.

Category:

Science & Technology

Tags:

• Biped
• walker
• steps
• Lego
• Technic
• NXT
• Mindstorms
• X-2
• 222Doc

[arcanemettles]

Wow! That's really an impressive collection of functions all integrated so well. Awesome work. You should post some good photos somewhere so we can soak-in all the LEGO goodness of your creation...

[222Doc]

@arcanemettles Brickshelf and my home blog, or at mindboards.

[inkybait]

@222Doc i thought the nxt didnt have enough connectors to power that many servos.

[222Doc]

@inkybait Last year Mindsensors came out with the NXTMmx. This little Mux plugs into a sensor port and gives you two more motor ports(fully Programmable) and a port so you still can lpug in a sensor too or another NXTmmx in a daisy chain. With this development the NXT is almost unlimited to motor ports and sensor port from a single brick. Also there are sensor Mux;s so its getting very complex now and about anything could be built from Lego.

[DrywFiltiarn]

That's excellent work! Really amazing how stable it is. I hope you will some time manage to complete a full-humanoid robot with upper torso and arms and such.

Do you have any kind of tilt detection in this robot so that is capable of detecting whether or not it might be leaning over to far so you can compensate for that?

[222Doc]

@DrywFiltiarn Right now it is just in testing to be sure it can even do the tasks. As for arms and such I have tested my older X-2 and the issue was weight and function. To have arms that can do something other than just wave at you must be very robust. They end being just like the legs, if say it is to lift a can of soda or such things. Then it needs to be geared way down to bear the weight and is much slower. Once it goes past the mechanical testing, interration of sensors is next on the list.

[DrBuffaloBalls]

if only the lego motors would be stronger, it wouldah be fast ass hell

[mratomdude]

i want to see a transformer

[powerstage]

Excellent work.

[LinkShack]

can't wait until full humanoid.END.

[Iravincius]

Really awesome stuff. Keep up the great work!

[MsLexxa]

robot looking so good. moves are so more lifelike. good job