Giger: Custom Humanoid Robot

First post here but figured I would share my most recent work; an RX-64 servo based custom humanoid robot named Giger. This bot was designed in Autodesk Inventor, and machined from 5052 alloy aircraft aluminum using a Sherline 2000 CNC and some work from Big Blue Saw. He stands 62cm tall, weighs about 5kg and uses a total of 16x RX-64s and 8x RX-28s. Video shown is rough initial progress, walking gait still needs a lot of work and the IMU data needs to be integrated for dynamic balancing.

Cheers!

By lefthandsh8k
@ Tue, 2009-11-03 00:10

Beautiful Work! Wow!

By FingerTech Robotics
@ Tue, 2009-11-03 00:18

Giger the Incredible

Hey Tyb, fancy meeting you here!

To everyone: Giger's stats may be impressive, but it is even more impressive to see in person. It must be about 60cm tall and looks like it could crush those puny Robonova kung-fu fighters with a single blow.

Looking forward to more updates!

By Benbo231
@ Tue, 2009-11-03 18:59

AHEM!

That thing dont got a prayer against my work in progress (aka dream). 90 cm tall! Beautiful job, I would like to know your walking program for mine. Just a few questions...

Double-servos. do they have 2 horns or one? Can I have a Link?

Torque per cm, and length of the legs...please.

weight of finished robot

Sensors...any plans for autonomous?

Can I have the cad files emailed to Benbo231@gmail.com? I need to see some of those joints for my own project...

By Aniss1001
@ Tue, 2009-11-03 00:37

Wow!

Awesome robot obviously. But $10000? Seriously? :/

By echorobotics
@ Tue, 2009-11-03 00:46

Its the actuators. A

Its the actuators. A bundle of 10 is well over $2,000. It could probably have been done with like, $10 actuators, but I don't know really. I think I'll try to build a cheap version of this around Christmas time just to see.

By Tyberius
@ Tue, 2009-11-03 00:51

Thanks guys! Yeah the

Thanks guys!

Yeah the Dynamixels are very pricey and account for the majority of the cost, the RX-64s are about $300 a pop, RX-28s are around $200.

$10 actuators that put out over 1000 oz-in of torque is something I'd like to see though ;)

By echorobotics
@ Tue, 2009-11-03 01:03

WOW 1000 oz-in?!?!? I just

WOW 1000 oz-in?!?!? I just found a bundle of 8 servos for a bargain- 34 bucks flat. But... they're 17.5 oz-in haha! Whatever, I'm still going to try to make a mini-one like this. Its inspiring :)

Also, I have Autodesk Inventor from my school. Hm........

By Rudolph
@ Tue, 2009-11-03 00:51

Hey, Tyberius. Good to see

Hey, Tyberius. Good to see you here.

@Aniss, remember, those are the servos that'll cut your fingers off ;)

By Aniss1001
@ Tue, 2009-11-03 06:20

Never mind me fellows..

I'm just jealous because I can't afford proper hardware like that :(

By OddBot
@ Tue, 2009-11-03 08:39

Can't afford it

I work for a company that makes robots and my company can't afford it!

By Aniss1001
@ Tue, 2009-11-03 08:54

Hehe

That sorta puts things into perspective...and more importantly makes me feel better :D

By Tyberius
@ Tue, 2009-11-03 16:58

I'll admit; I also work for

I'll admit; I also work for a Robotics company so I get a bit of a discount on my stuff.

My wife still wanted to murder me after this project though :D

By -Gary
@ Tue, 2009-11-03 17:39

Robotics Company

Hmmm...

I see you are in Chicago. Do you work for MotoMan? Our company shares a building with them in Troy, OH and I believe they have Corp. HQ around there.

By Tyberius
@ Tue, 2009-11-03 18:24

Naw, work for Trossen

Naw, work for Trossen Robotics out in west Chicagoland.

By grahn
@ Fri, 2009-11-06 08:21

Oh man, I should have never

Oh man, I should have never read this thread. I work twice a week no more than 3 blocks away from a robotics supply house? My wife is going to murder me. Great work Tyberius, I would love to see it in person one of these days!

By TotoroYamada
@ Tue, 2009-11-03 08:27

Impressive...

I love it!

By meringu
@ Tue, 2009-11-03 08:35

nice camera too

By Revenant.Revival
@ Wed, 2009-11-04 04:40

That is awesome!

I love it, but it comes at a $10000 cost. The finger breaking RX-64 from trossen robotics are expensive, but worth it if you make an awesome beast like this.

This robot is completely uber. It would be cooler if it knew some Kung-Fu moves.

By mif
@ Wed, 2009-11-04 08:31

Incredible

It looks very, very impressive

Congratulations!

By ignoblegnome
@ Wed, 2009-11-04 10:32

Thanks for posting your very

Thanks for posting your very impressive bot here. It is inspiring. There's a lot to be learned from this bot, even if you don't plan on spending $300 for a servo that can supply so much torque.

For example, the picture at the bottom of your post shows a simple and elegant approach to creating a gripper. Great design!

By fritsl
@ Wed, 2009-11-04 12:26

Actually it does,

Actually it does, yes!

Yoink!

By ignoblegnome
@ Wed, 2009-11-04 16:09

I'm thinking about a two

I'm thinking about a two piece aluminium frame that could be attached to a standard servo. The servos on this bot have actuators on both sides, but we can work around that for a standard servo.

If you imagine the servo laying on its side with the round servo horn attached and positioned on the left.

Part One of the frame goes underneath the servo with a little overlap on the left for attaching it, and completely covering the right side of the servo. This forms the fixed part of the gripper. The right side of Part One also includes a round shaft that will be used to mount and pivot Part Two. This pivot shaft is directly inline with the shaft of the servo's actuator.

Part Two is the movable part of the gripper. It is attached to the servo horn on the left, goes up above the top of the servo (recall the servo is on its side), and down the right side, with a hole that slips over the pivot from Part One.

Suitable "fingers" are attached to Part One and Part Two, or they are integral to the part, depending on how you fabricate this. A picture would be helpful, I know. I don't have time to make one this morning. Maybe later.

By Benbo231
@ Wed, 2009-11-04 21:34

Like this?

l l

ll ll

l l

By Tyberius
@ Thu, 2009-11-05 22:46

Thanks! The grippers are

Thanks!

The grippers are dead simple, I'm actually working on some more complex ones though...

(Modeled in Inventor Pro 2008)

By Revenant.Revival
@ Fri, 2009-11-06 12:47

Does it have Kung Fu grip?

Just felt like asking it. Who doesn't like kungfu grip?

By clcheunghk
@ Wed, 2009-11-04 13:01

Wow ! Very professional !

By Revenant.Revival
@ Fri, 2009-11-06 12:54

I'm putting down $12000 for that...

If this bot was available as a kit, I'd buy it! C'mon DAGU show us your stuff. (I'm very happy)

But, since I don't have enough money. I'm going to finish off my education first.

By droidbuilder
@ Fri, 2009-11-06 23:03

Nice to see you here!

Most EXCELLENT robot - as your robots usually are! I've seen your bots over on the Trossen Robotics forums (I just lurk there sometimes). Yours are some of the most awesome real-world robots I have ever seen. Anyway, I most certainly want to welcome you to the membership here!

By Bgana
@ Sun, 2009-11-29 14:56

WOW!!! Very good job,but how

WOW!!! Very good job,but how many servos were used for Giger

By Rudolph
@ Sun, 2009-11-29 20:28

From the description:

From the description: "...uses a total of 16x RX-64s and 8x RX-28s.". So, 24.