My PhD work from concept to implementation :)
A hansom beast indeed!
So which planet are you thinking of exploring ;)
Oops, maybe should ask here : sorry, just a repeat of Mintvelts q's.
Check above :)))
Very bling and also very nice moves. Those wheels are truly awesome!
Can you tell us more, like what type of motors, sensors control units and such? Did you machine the parts yourself?
Thanks for the positive feedback :)
Now on your questions:
- I used 24v motors with 3000:1 serial gearboxes for drive (x4) and body rotation motors (x2) (yes the body rotates around the axis that links the two shoulders via an active differential:), with 800:1 serial gearboxes for Steering (x4), with 100:1 epicyclic gearboxes (x4) for suspension
-I used a distributed control architecture with 20 PIC controllers, 4 inside each leg electronics compartment and four inside the body. Each compartment also included its associated motor drivers. 14 DOF full PID control. Gumstix verdex was going to be the main controller - never integraded as time did not allow.
- In terms of sensors i used limits for stering and suspension, quadrature encoders HEDS as well as US robotics for all motors, potentiometers to get absolute posistion for steering, suspension and body rotation, Sharp IR rangefinders (8 on body, 1 on each leg, one one each steering bracket), Freescale 3-axis accelerometer, a number of photodiodes for alligning with other systems and wanted to integrade digital compass and GPS but time did not allow.
The wheels (hubs-pims-spokes) I machined myself on a standard lathe. The tires came from 1/24 scale monster truck. It took 4 full-time weeks for those four! Apart from the wheels and small spacers etc. all the remaining parts where made on 3-axis CNC
The video was made sometime during the summer of 2005. The cables coming of are motor/logic power and comms. It now supports wifi and has 220 Wh of lithium polymer on-board. I will soon be making the second generation model:))What is not shown on the video is:
-Full 360 body rotation (around the axis that links the two pairs of legs to the body with custom made electrical union)
-Picking-up/disposing tools using hooks on the body. In the pic you can see a Battery Pack being picked-up and integraded on the MTR's body, hence its name MTR - Multi Tasking Rover!