Giger: Custom Humanoid Robot
@ November 2, 2009
Walking, Balancing, Competing in Mech Warfare
Cost to build:
$10000
Time to build:
100 hours
URL to more information:
Weight:
5000 grams
- Actuators / output devices: EX-106+ Dynamixel Actuators, 8x RX-28 Dynamixel Actuators, 6x RX-64 Dynamixel Actuators
- Control method: Controlled via Bluetooth HID connection to PS3 SixAxis controller.
- CPU: 400 mhz Verdex Pro
- Operating system: Buildroot Embedded Linux
- Power source: 4S 14.8v 3800mAh Battery
- Programming language: C
- Sensors / input devices: Wifi Camera, ADIS 16355 IMU
- Target environment: indoors
First post here but figured I would share my most recent work; an EX-106+ 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 Rapid Sheet Metal. He stands 62cm tall, weighs about 5kg and uses a total of 10x EX-106+, 6x 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!
Update: New Brackets + Servo upgrades!
@ Wed, 2010-05-05 22:31
Excelent new video!!
Excelent new video!!
@ Wed, 2010-05-05 18:26
Oh my
*shudders* I guess the world domination is getting closer...
impressive work, was it a solo, or a team project?
@ Wed, 2010-05-05 18:49
Thanks! This is a solo
Thanks! This is a solo project, though the Gumstix controller was developed by my friends at Farrell Robotics, so credit goes to them for the amazingly well designed onboard controller.
@ Wed, 2010-05-05 17:07
Few updates
Mech Warfare at Robogames 2010 was a success!
Botjunkie did an awesome write up on it, found here: http://www.botjunkie.com/2010/04/27/robogames-2010-mech-warfare/
Video here:
http://www.youtube.com/watch?v=P6murW889XA
And... Here's some progress I'm making on Giger-Fu, my Kung Fu variant for the Korean Robot Games Festival!
http://www.youtube.com/watch?v=Wylvx2fSCT0
@ Mon, 2010-03-01 21:29
Upgrades! Woo!
New upgrades! Giger currently uses 10x EX-106+, 6x RX-64s, and 8x RX-28s for a total of 24 DOF.
Also have some new video, this is about 2 hours of work after final configuration as a result of the new upgrades. All 10 main leg servos have been upgraded to EX-106+ Dynamixels, so my previous walking gait progress was entirely erased. All new custom brackets used in the legs and feet, as well as new elbow/shoulder brackets and arm extensions. Brackets were designed in Autodesk Inventor 2008 and machined by Rapid Sheet Metal: http://www.rapidsheetmetal.com (they're too big/too much of a hassle to bend in-house)
Keep in mind; I have this gait tuned to a very slow rate so that I can work on the balance and COG shifting correctly, then it can be sped up to a more realistic, useful speed.
Video: http://www.youtube.com/watch?v=jYDPrD4Njko
@ Fri, 2010-01-08 06:15
Help me
Can you help me in structure of the upper part. i need something simple not complex of servo's or anything...
i need movement of the arm only can anyone please..
my email id is anil.likwid@gmail.com
@ Wed, 2010-01-27 20:36
Get your acto toegther, likwid!
From the rules of LMR:
Never write subject lines that start with the word "Help".
Apart from that; how should anyone help you with that little info?
And while I'm at it; Why write to your mail? Quite anti-social IMHO. Write on the post, and let averyone else benefit!
@ Fri, 2009-12-18 09:52
were are
@ Sun, 2009-11-29 14:56
WOW!!! Very good job,but how
WOW!!! Very good job,but how many servos were used for Giger
@ Sun, 2009-11-29 20:28
From the description: