United3dArtists Archive

jeffroig · Post by **jeffroig** » 12 Sep 2018, 22:19

So this is a head for a robot that I am working on.
Let me fill you in on this one.
This is the small scale version of the head to prove that it would work.
The full size of the head/robot will have 4 Long range IR distance sensor in it so that as you move around the robot it will follow you.
The head is designed so that I can fit 4 Long Range IR sensor in its shield.
The
Head full size head will have 2 IR sensors in a horizontal position one at the top and one at the bottom.
It will also have 2 IR sensor mounted vertical, one on the right and one on the left forming a square.
The angles that these sensors are positioned at are important to insure it always see's you.

: RoboHeadSide.jpg (4.42 KiB) Viewed 7895 times

: RoboHeadFront.jpg (6.78 KiB) Viewed 7895 times

jeffroig · Post by **jeffroig** » 15 Sep 2018, 16:53

Here are some preliminary pictures of the robot undergoing initial assembly.

trueBlue · Post by **trueBlue** » 16 Sep 2018, 17:50

Does your assistive companion web site in your signature exist?

jeffroig · Post by **jeffroig** » 18 Sep 2018, 17:25

No longer exists, thank you for pointing that out. I removed it from the signature.

jeffroig · Post by **jeffroig** » 18 Sep 2018, 17:27

A little more progression to the new bot.

: IMG_20180916_133216.jpg (22.8 KiB) Viewed 7835 times

jamesmc · Post by **jamesmc** » 18 Sep 2018, 18:01

Cute little fellow. Do you have any motors in it to run it about?

jeffroig · Post by **jeffroig** » 19 Sep 2018, 18:09

Currently it has 11 servos that are being controlled using an Arduino Nano and a Sensor shield. The unit is powered using 2 3.7v 1400 mAH batteries (Lipo). Currently working on designing new feet that look like it is wearing shoes and a chest plate to cover the batteries. Walks really well going forward still have to work on the right and left and backwards.

Dragneye · Post by **Dragneye** » 19 Sep 2018, 20:39

Nice work so far.
Have you come up with a name?

btw Do you watch Battlebots series? What do you think of it? Anything you can use from there?

jeffroig · Post by **jeffroig** » 20 Sep 2018, 16:22

Thank you for the compliments I appreciate it.
They name is Retro-Boy, you will see with the next set of pictures that I upload that he has a chest with his initials like superman did on it.
I watched a couple episodes of battle bots but just never really got into it as all my bots have been created to help people or at least try to.

Dragneye · Post by **Dragneye** » 26 Sep 2018, 09:00

I was thinking structurally helpful, like design, part strength and stuff. What seems to work better kind of thing.
Anyway, keep up the cool work!

jeffroig · Post by **jeffroig** » 26 Sep 2018, 18:59

Here is a new image, you will notice the addition of 2 new joints in the legs.
This will be changing once again as the hip joints will get changed from twist to lean.
Also the feet have changed to look like shoes and have a little more weight/stability to them.

jamesmc · Post by **jamesmc** » 26 Sep 2018, 19:36

Evidently, the Robot has a fondness for M&Ms. With adaptable limbs and shoes, it could be an interchangeable enterprise. Skiis, skates and perhaps even Crocs for downtime moments.

Looking good!

jeffroig · Post by **jeffroig** » 27 Sep 2018, 17:29

Oddly enough I actually designed some skates, will take like 12 hours each to print but once he is up and walking the way I want will be trying this.

jeffroig · Post by **jeffroig** » 02 Oct 2018, 17:39

Okay so here is the new and improved robot that has the hip joints changed to lean. I also redesigned the main body/chest so that the servos for the hips would be inside the body and not attached on the outside. This reduced the total height by about 10mm which is great as it give it more stability. The walk cycle does well but after some testing have found that the Thigh and knee pivot brackets need to be extended by about 5mm to give the leg more freedom and a faster walking gait.

Steinie · Post by **Steinie** » 02 Oct 2018, 21:31

He/She looks awesome!
I would hide the exposed wires.

jeffroig · Post by **jeffroig** » 06 Oct 2018, 21:27

Thank you Steinie.
Wires will be hidden to some degree. This is just a proof of concept/ prototype for the larger one that will be done.
Did redesign the pivot brackets and found that 5mm was not enough had to go with 10 but only the thigh brackets needed changed.
The walk cycle is better but still not exactly what I want, just not smooth enough yet. Walks well on a smooth surface but carpet is hit or miss.
Will post a new picture soon.

jeffroig · Post by **jeffroig** » 06 Jan 2019, 11:36

I am still working on this little guys walking gait.
The biggest problem I have is the coding, in Arduino you change a value and then upload the code for each servo.
This becomes very time consuming and you are guessing to some degree as to the angle of movement.
I took some time and wrote some software in .NET that interfaces with the arduino via serial and allows me to be very interactive(Live) with the servos.
So now I can move a slider and see results right away and save the position.
My idea is to design the walking gait using this software and then when satisfied export the positions out and create the code around them.
I might even set it up to export out the code for each servos position so all I have to do is copy and paste it into the Arduino IDE and upload it.

bitkar · Post by **bitkar** » 07 Jan 2019, 14:32

would be awesome if you could use BHV mocap file and transfer it into servos :)

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