T-Hex 4 DOF hexapod, short demo
T-Hex is a hexapod with 4 DOF per leg. Mech inspired body design. Running a modified version of the Phoenix V2.0 written by Jeroen Janssen (aka Xan). The onboard program runs on a Basic Atom Pro 28 mcu from Basic Micro. Just a little demo of T-hex moving and walking around. Sorry for the bad video quality from my old mobile phone. I’ll post something better later.
Duration : 0:1:50
[youtube 6tR0TDsWCls]
June 18th, 2010 at 8:30 am
@ZentaOlbaid Ah! I …
@ZentaOlbaid Ah! I need to download Xan’s code and the XLS to get a better feel for the terminology of the joints. I’m absolutely crazy about T-Hex by the way, I can’t wait for the prmoised Lynxmotion 4-dof hexapod kit.
I should really have spotted too that the ssc32’s hex generator is only for 12 dof and 3 joints on a hexapod would be 18dof, but I’m still new to the hobby (still lurking trossen and lynxmotion forums) so I’m gonna cut myself a break.
June 18th, 2010 at 8:30 am
@BfndrGnrl Hi, I’m …
@BfndrGnrl Hi, I’m not using the 12-servo (2DOF) hex generator.
Your assumption are correct when it comes to the extra (4.DOF) for the tars (not femur). I’m using a math algorithm for calculating the tarsus angle in relative to the ground.
Thanks for your comment!
June 18th, 2010 at 8:30 am
Are you generating …
Are you generating the gaits using the 12-server hexapod gait generator onboard with the SSC-32? I was really furrowing my brow as to how much more complex the IK calculations must be for 24dof but looking closely it looks like the femur(I think) angle is pretty consistent most of the time? Am I correct in assuming locomotion is mostly 18dof ssc-32 generated with the extra joint thrown in for special moves and for future terrain adaptability (along with feet sensors)?
Love it, btw.
June 18th, 2010 at 8:30 am
Now make it go up …
Now make it go up and down really fast, and you suddenly have a toy for girls.
June 18th, 2010 at 8:30 am
it looks alive wow
it looks alive wow
June 18th, 2010 at 8:30 am
Awesome. Keep going …
Awesome. Keep going with this project and I’m sure you will do well out of it.
June 18th, 2010 at 8:30 am
awesome!
awesome!
June 18th, 2010 at 8:30 am
holy crap its a …
holy crap its a real life replicator!
Hurry grab O’Neil!
June 18th, 2010 at 8:30 am
briliant. couldnt …
briliant. couldnt we just make this same exact model exept bigger, i little bigger than a tank maybe. and there could be somebody inside with the controller as the driver? if we can do this… than why not step it up a notch
June 18th, 2010 at 8:30 am
Very good job. Can …
Very good job. Can i get more details about robot? I know that writing tutorials is very boring but that would be nice too =).
June 18th, 2010 at 8:30 am
Excellent! The …
Excellent! The hexapods are more amazing by the week.
June 18th, 2010 at 8:30 am
Hi, It doesn’t move …
Hi, It doesn’t move very well on uneven surface. I do have I hope of getting terrain adaption to work one day though. All IK calculations and walking algorithm are done onboard the robot. But I’m using a RC transmitter for commanding it where to walk etc.
June 18th, 2010 at 8:30 am
ZentaOlbaid: How …
ZentaOlbaid: How well does it work on uneven surfaces?
And how much of the control is in the actual hexapod?
June 18th, 2010 at 8:30 am
just great, but i …
just great, but i think walking algorithm can be better. very good…
June 18th, 2010 at 8:30 am
My bad, yeah. …
My bad, yeah. Boston Dynamics. They do have some incredible stuff, but what they have isn’t entirely how say, graceful.
plus, I like the look of the six legged robots that you make.
Keep up the good work.
June 18th, 2010 at 8:30 am
I guess you mean …
I believe they are way over my head/league. But thanks for the credit though!
I guess you mean Boston Dynamics…
June 18th, 2010 at 8:30 am
hmm. it moves …
hmm. it moves decently fast. You and Boston Robotics should totally get together, I think you would have a lot of skill and talent that you could bring to their table. Check them out.
June 18th, 2010 at 8:30 am
If you meant forums …
If you meant forums, then check out the Lynxmotion forum.
June 18th, 2010 at 8:30 am
Wow really need! …
Wow really need! The extra DOF does make a difference in how the gaits work out. The big legs look a like the arms of a gorrilla
ps. thanks for the credit.
June 18th, 2010 at 8:30 am
I’d attach a camera …
I’d attach a camera too it, and make it look like a spider or something, and have it walk around outside scaring the outta people.
June 18th, 2010 at 8:30 am
Whaw. You shud …
Whaw. You shud patent this.
June 18th, 2010 at 8:30 am
..you can be the …
..you can be the next star wars weapon maker..
June 18th, 2010 at 8:30 am
I can’t get over …
I can’t get over how smooth that thing moves! You’ve done an amazing job with it, that’s for sure! Glad to finally see it walking!
June 18th, 2010 at 8:30 am
God that thing’s …
God that thing’s hot, the cage kind of reminds Me of the General Electric Leg Truck.
Keep Kickin’ Ass!!!
June 18th, 2010 at 8:30 am
The mech inspired …
The mech inspired body design, with the little cage, is a powerful image.
It really made me think “wow, this could scale up to life size quite easily”