Robots

The simulation was rendered using Simulink and a pricise model of Bioloid Humanoid. The control technique involved 2 stages. The first (pumping) is a normal PD control. The second (close to the hand-stand position) uses an optimal control technique – LQR (Linear Quadratic Regulator).
The humanoid was reduced to a 3-body inverted pendulum model.
See http://humanoids.dem.ist.utl.pt/ and http://robosavvy.com for more information.

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I finally finished the update for this video. I created another version of the sound fx, I added the cloth banner, better particle smoke, and hopefully a better composite. For more information on this piece check out my website: http://www.graysonchalmers.com/html/dread.php

I really hope you enjoy. Feedback is always welcome!

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V2 robot angry Robosapien

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( 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.

Duration : 0:3:19

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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.

Duration : 0:3:10

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