Issy Goes Fire Fighting
@ November 9, 2009
- Actuators / output devices: 13 Dynamixel AX-12+ servos, ducted fan
- CPU: ArbotiX Robocontroller
- Power source: 11.1V 2000mAh LiPO
- Sensors / input devices: GP2D12, EZ-3, IR photodiode to detect fire
I've built several fire-fighting robots, and several walkers, but this is my first walking fire-fighting robot. Issy will compete in the Canadian National Robot Games this November, and then the Trinity Fire Fighting Robot Contest next April.
The first Issy was originally built for Mech Warfare earlier this year. This new version is about 2" shorter in both the width and length directions, a neccesary adjustment to get him inside the rules of the competitions (all entries must fit inside a 12" cube. This new build uses similar legs, each built out of 3 Dynamixel AX-12 servos, Bioloid brackets, and SES tubing for the upright leg. The center body and chest are custom aluminum plates.
He has a head similar to some of my previous fire fighting robots. The head has an IR ranger for 99% of his navigation, a sonar ranger mainly for approaching the candle (since the IR gets wiped out), an IR photodiode for fire detection, and a ducted fan for fire extinguishing. Issy is using an arbotiX robocontroller, and power is from an 11.1V 2200mAh LiPO.
@ Fri, 2012-01-13 00:19
That is Really Amazing
WOW that is really amazing. What a really neat robot. Love the way it walks, pretty fast on its feet too. Good luck in the upcoming contest.
@ Thu, 2012-01-12 18:14
Awesome !!!!!!!!!!
Awesome Navigated !!!
Cool Design !!!
@ Wed, 2009-11-11 01:55
awsome
@ Tue, 2009-11-10 13:02
Wow, how impressive
Wow, how impressive. Your arbotiX controller looks very interesting, too. I just building an Sanguino compatible controller on perfboard for a robot project.
As I see, you manged to control the Dynamixel AX-12 servos directly without a CM-5 controller. Thats is really great. Me too, I would like to play around with these servos without the CM-5 controller. So it's good to know to have a working library.
Do you have any problems with the AX-12 running at 11.4V? The specs says 7-10V.
BTW. Good luck for the Trinity contest.
@ Wed, 2009-11-11 02:01
No problem at 11.1V (or even
No problem at 11.1V (or even the 12.6 fully charged). The new Premium kit comes with an 11.1V lipo as the stock battery.
-Fergs
@ Mon, 2009-11-09 08:25
Nice one :)
@ Mon, 2009-11-09 08:09
Very cool firefighter Fergs,
Very cool firefighter Fergs, hope it does well. Are there extra points for walkers?
Been thinking about Mech Wars, maybe a quad is a good first entry. Would be good to be assured making it to there though.
@ Mon, 2009-11-09 16:07
At the Trinity College
At the Trinity College event, there is a seperate walker division. In Canada, there's only a handful of fire fighters so there won't be any bonus/division for Issy -- but I think he's still got pretty good chances, he's quite reliable and decently fast.
-Fergs
@ Mon, 2009-11-09 07:55
I definitly love walkers...
@ Mon, 2009-11-09 07:54
very nice!
yeah, very tight little machine. Nice work!
Have you looked at other ways to extinguish the flames, compressed foam maybe? Love to see this as a prototype for an actual, giant firefighting robot... maybe a couple of gun turrets wouldnt hurt either;)
Great stuff.