Robots

Kinematic system that operates just by getting a new target position (inverse kinematics) everything else is done autonomously. This demonstration has 4 different target positions only and it shows the system’s accuracy even at a very high speed.
This is part of an autonomous system that first looks for possible ways up a climbing wall (according to the abilities of the robot and to physical constraints) and after placing the robot at the start position of the chosen path the robots climbs up just by knowing the x/y-positions of the grips.
The final scenario will be a bioloid looking at the wall using an onboard vision system, detecting marked grips, calculating the best way up, walking to the start position and climbing up the wall, totally autonomously.
My part so far was developing a motion planning system which is a simulation of the real wall that calculates possible paths and developing a motion control system based on inverse kinematics so that now you can send a command like “left hand position 250/175″ and the robot is hooking its new climbing hook-hand into a grip being at this position. (I made new hook-hands and climbing feet to make the robot able to climb, too)
See the other videos showing the climbing process and explaining more details.
This is part of a university cooperation project done by Marco Wickrath.
(Technical University of Dortmund, Germany & University of Manitoba, Canada)

Duration : 0:0:31

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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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