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Giger: Custom Humanoid Robot

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Robot – work in progress
 
Tyberius's picture
By Tyberius
@ November 3, 2009
Walking, Balancing, Competing in Mech Warfare
Cost to build: 
$10000
Time to build: 
100 hours
URL to more information: 
http://forums.trossenrobotics.com/showthread....
Weight: 
5000 grams

 

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!

 

 

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By Revenant.Revival
@ Tue, 2010-05-18 13:15
Revenant.Revival's picture

Giger doesn't move his head.

Which means that he doesn't need to since he has waist rotation, and he can hold his awesomeness in his torso.

Am I correct?

By Tyberius
@ Thu, 2010-05-20 22:27
Tyberius's picture

Head rotate is strictly aesthetic at this point, so yes you are correct; Giger only uses his waist for rotation. 

By fritsl
@ Wed, 2010-05-05 23:31
fritsl's picture

Excelent new video!!

By amando96
@ Wed, 2010-05-05 19:26
amando96's picture

*shudders* I guess the world domination is getting closer...

impressive work, was it a solo, or a team project?

By Tyberius
@ Wed, 2010-05-05 19:49
Tyberius's picture

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.

By Tyberius
@ Wed, 2010-05-05 18:07
Tyberius's picture

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

By Tyberius
@ Mon, 2010-03-01 22:29
Tyberius's picture

New upgrades! Giger currently uses 10x EX-106+, 6x RX-64s, and 8x RX-28s for a total of 24 DOF.

 gigerv2.jpg

 

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

By likwid
@ Fri, 2010-01-08 07:15

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 

By fritsl
@ Wed, 2010-01-27 21:36
fritsl's picture

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!

 

By dimble swishblade
@ Fri, 2009-12-18 10:52
dimble swishblade's picture
the batterys are they in the feet ?
By Bgana
@ Sun, 2009-11-29 15:56
Bgana's picture

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

By Rudolph
@ Sun, 2009-11-29 21:28
Rudolph's picture
From the description: "...uses a total of 16x RX-64s and 8x RX-28s.". So, 24.
By droidbuilder
@ Sat, 2009-11-07 00:03
droidbuilder's picture

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 clcheunghk
@ Wed, 2009-11-04 14:01
Wow ! Very professional !
By Revenant.Revival
@ Fri, 2009-11-06 13:54
Revenant.Revival's picture

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 ignoblegnome
@ Wed, 2009-11-04 11:32
ignoblegnome's picture

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 Tyberius
@ Thu, 2009-11-05 23:46
Tyberius's picture

Thanks!

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

 

hand3.png

hand2.png 

 hand.png 

 

(Modeled in Inventor Pro 2008) 

By Revenant.Revival
@ Fri, 2009-11-06 13:47
Revenant.Revival's picture

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

By fritsl
@ Wed, 2009-11-04 13:26
fritsl's picture

Actually it does, yes!

Yoink! 

By ignoblegnome
@ Wed, 2009-11-04 17:09
ignoblegnome's picture

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 22:34
Benbo231's picture

l    l 

ll   ll

 l    l                                                                                                                                                                                   

By mif
@ Wed, 2009-11-04 09:31
mif's picture

It looks very, very impressive

Congratulations!

By Revenant.Revival
@ Wed, 2009-11-04 05:40
Revenant.Revival's picture

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 meringu
@ Tue, 2009-11-03 09:35
nice camera too
By TotoroYamada
@ Tue, 2009-11-03 09:27
TotoroYamada's picture
I love it!
By Aniss1001
@ Tue, 2009-11-03 07:20
Aniss1001's picture
I'm just jealous because I can't afford proper hardware like that :(
By OddBot
@ Tue, 2009-11-03 09:39
OddBot's picture
I work for a company that makes robots and my company can't afford it!
By Tyberius
@ Tue, 2009-11-03 17:58
Tyberius's picture

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 18:39
-Gary's picture

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 19:24
Tyberius's picture
Naw, work for Trossen Robotics out in west Chicagoland.
By grahn
@ Fri, 2009-11-06 09:21
grahn's picture
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 Aniss1001
@ Tue, 2009-11-03 09:54
Aniss1001's picture
That sorta puts things into perspective...and more importantly makes me feel better :D
By Rudolph
@ Tue, 2009-11-03 01:51
Rudolph's picture

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 01:37
Aniss1001's picture
Awesome robot obviously. But $10000? Seriously? :/
By echorobotics
@ Tue, 2009-11-03 01:46
echorobotics's picture
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 01:51
Tyberius's picture

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 02:03
echorobotics's picture

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 FingerTech Robotics
@ Tue, 2009-11-03 01:18
FingerTech Robotics's picture

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 19:59
Benbo231's picture

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 lefthandsh8k
@ Tue, 2009-11-03 01:10
lefthandsh8k's picture

Beautiful Work! Wow!