The hexapod robot "Spider P.I.G."
@ Tue, 2008-03-11 08:22
Walks in variable directions, controlled from a computer.
Weight:
2000 grams
- Actuators / output devices: 18 servos
- CPU: Celeron 630 MHz
- Operating system: Linux
- Power source: 6V
- Programming language: Java
- Target environment: indoor, outdoor, Semi rough terrain.
Yes, this is a teaser...
I will post more content of it and a tutorial as well.
*Update*
What i've been working on lately is to shorten down the legs. I tested it today, and it worked a LOT better than before. I'll see if i can manage to get a video soon ( I'll have to borrow a camera from someone :/ ). It still have some slight problems lifting the EEE PC, but it does work at least.
*New Update*
Fritsl uploaded three new videos, which is the later three ones on this page. Thanks!
@ Tue, 2008-03-11 09:12
WOHAAA
That is FUNNY!
- And I am on "JIP"'s bag all the time because he is using the large LEGO-brick in all he's work.. But a complete Mac?! Yes sir!
/ Frits
@ Tue, 2008-03-11 09:32
Thats not a mac
Hey Frits long time no see, thats not a MAC, Fredrik has used for his robot it's an Asus EeePC.
The Robot it self is realy cool, gonna upload the videofootage of it on video.google this upcomming weekend or earlier depends on if I get time to do it earlier.
But definately a realy cool robot, and the simulation program Fredrik wrote for testing, is way awesome.
Think about how usefull this robot is, you come home and it comes runing with your computer or glass of cola or wahtever, the use of this robot is endless, and it looks like an Spider combined with an Alien-facehugge, thats just plus.
@ Mon, 2009-04-13 18:02
mac...
I have always wanted to attach wheels to my macbook, but that might be kinda hard because I'm not too deep into even BASIC, much less assembly or java. And of course the laptop weighs 5 pounds. But its not low on processing power, (2.4 GHZ) so someday I might be able to use the ISIGHT as a object detection sensor and, well, yeah. But I guess for our kind of robotics, an EE PC is way more power than you need.
Anyways, how much does the EE PC weigh? (please, pounds, I have no clue what a kilogram is)
@ Mon, 2009-04-13 19:13
1 pound = 454 grams1
1 pound = 454 grams
1 kilogram = 1000 grams
1 kilogram is approx 2 pounds
And I'm from the US :)
@ Wed, 2009-10-21 03:54
Hey
An american who knows what a kilogram is :) Who da man...
Says I who never seem to remember what an inch is. ~2.5 cm or something (and I still mess up AM and PM too)
Anyway looking it up and converting it isn't exactly rocket science :)
@ Wed, 2009-10-21 05:07
2.54 ;)
2.54 ;)
Oh, and 1200 to 2359 is PM.
@ Wed, 2009-10-21 05:17
He he
@ Fri, 2009-04-17 19:12
kilogram
@ Tue, 2008-03-11 10:25
The image is perhaps a bit
The image is perhaps a bit misleading. It can't lift the lap-top yet. The legs will just bend and it will perform really poorly if i put the lap-top on it, at the moment.
But, it is my goal that it should be able to lift it. I think i will have to shorten the legs a bit. It will need less torque then, and shorter parts is less likely to bend
@ Tue, 2008-03-11 10:42
Awesome!
Wow this looks like a really cool robot! I can't wait to see the video of it... hurry it up zalzer ;-). I would definitely use one of those for chasing my cat with :-D
Looking forward to detailed description / tutorial.
- Jimmy
@ Tue, 2008-03-11 12:32
Uploading right now
@ Tue, 2008-03-11 12:44
And it's up
Here's the link
http://video.google.com/videoplay?docid=-463105234723059129&hl=en
The video quality isn't the best, don't knwo why video.google scales it up, I'm aware of the color problem think it's some setting on the camera I need to change but havn't figured it out yet. Maybe I'll use another and better camera next time
@ Tue, 2008-03-11 12:54
Thanks nice job!Fredrik:
Thanks nice job!
Fredrik: that's a really cool robot! It almost looks like it's alive... Now I can't help but wonder if I could make something like that in LEGO :-).
Once again I'm looking forward to tutorial and your experiences with the arduino.
- Jimmy
@ Tue, 2008-03-11 14:39
Thanks really much for
Thanks really much for posting that video!
BTW, i think the video quality is completely ok. One thing im not ok with though is that i set wrong values for the length of the coxa (the upper, horizontally rotating joint of the leg). While it really is 5 cm, i set it to 3. I haven't tested it since i fixed i, so i wonder if it works any better now...
@ Wed, 2009-01-21 21:28
LIfting the laptop
Dude the design is aewsome "love it" you could hack the guts out of those servos or just buy/build the H-bridges needed to put geardrive motors in there the ones with metal gears are strong enough to probably take a ride on a platform like that I allways wanted to do what you are doing there but I never got my PC to interface maybe you can post a bit on that topic if you will..
iamdenteddisk@yahoo.com
@ Tue, 2008-03-11 16:27
Perhaps the second half of
Perhaps the second half of the video is not that relevant ;D
- Annyway, Fredrik, you can edit your post and insert the video link so it is here on the page, thanks.
/ Frits
@ Tue, 2008-03-11 17:19
Done! :D
Done! :D
Anyway, in the video you can see me pointing on one of the legs. One of the servos in that leg actually broke a short while before we recorded the video. However, it was broken in such was that it still could hold the position when power is provided. The problem was that a small gear in the servo had lost several tooth, so when the gear itself spinned, it provided motion most of the time for the next gear. It worked, but it made it a little bit clumsier.
@ Mon, 2008-03-24 21:57
2000 grams??
WOW, does it weigh 2000 grams?? No wonder the legs are struggling!!
/ Frits
@ Mon, 2008-03-24 23:34
Well, that's when bearing
Well, that's when bearing the EEE PC.
Anyway, it shouldn't be that hard. I know of a hexapod that could lift 2,6 kg, that being just the payload and not the hexapod itself. The servos can easily lift the weigh. The problem however, is the weak material. I used a very thin aluminium sheet for all the parts.
@ Sat, 2008-03-29 00:53
I'm working on something similar
I'm working on something similar, but in CG.
I'm really liking what you're doing in real life though, affirms the assumptions I made regarding the movements of a six-legged robot.
http://www.youtube.com/watch?v=lBXN_05LRqg
This robot is to be a character in my final year project for my (BA) Post Production and Visual Effects:
http://www.youtube.com/watch?v=dcj-IWFDWwc
I just thought I'd share it with you, it'd be cool if you'd let me know what you think.
@ Fri, 2008-04-11 21:10
Cool, I hope that to be
Cool, I hope that to be reality soon! I like those little hand hold robots.
I do also like the anchor hexapods.
Did you do any inverse kinematics to generate the movements? If so i would love to see some documentation of that.
Anyway, awesome video and thanks for the feedback!
@ Sat, 2008-04-12 19:40
Very cool. I love how fluid
@ Sat, 2008-04-12 20:27
Thanks!You could start off
Thanks!
You could start off with a project similar to the Lynxmotion BRAT. It's a two legged little robot that only requires 6 servos. So you could start with 6 servos and then buy some more whenever you feel like expanding. Or maybe a quadropod...
http://www.lynxmotion.com/images/hi-res/brat02.jpg
I really recommend the GWS S03T servos which is the ones i used for my project. Watch out though, if you're using fabricated servo brackets it may not fit for these servos because they are slightly oversized. Anyway, they are strong which is good for a legged robot.
@ Sun, 2008-04-13 04:07
Thanks for the info. I
Thanks for the info. I checked out all of LynxMotion's robots, and they all look very cool, but of course very expensive :) Looking at it in context, that BRAT is actually quite affordable. You're right, it might be a good entry point. Someday :)
Dan
@ Mon, 2009-01-19 15:14
Just an Idea
Is the power source on the robit itself? If so you could get it to draw power from the eeepc, that way you will save on weight! Maybe use a docking station... if you get them for the eeepc? or something similar...
"Unfortunately, you learn from your mistakes"
@ Mon, 2009-01-19 16:52
Rubbers
You need to get some non-slip tips on the feet. perhaps the thimble things that bank-tellers use.
Mike
@ Tue, 2009-01-20 20:47
Inverted kinematics
Hi,
I like that you used Java to use the hexapod. how do you solve the problem with inverted kinematics?
cheers
Juan Antonio Breña Moral
http://www.juanantonio.info
@ Wed, 2009-10-21 00:03
where can I find those
where can I find those servos
@ Sun, 2009-12-20 07:02
Hello Sir