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Registrace 10. 12. 2006
Hexapod Robot Kinematics - part 5 (massive update and demo)
My hexapod simulator is slowly evolving into something more like hexapod design studio.
It now supports an arbitary number of legs and three different gait patterns. The legs no longer have to be anchored symmetrically around the robot body, but can have individual
offsets and orientation. The length of the coxa, femur and tibia segments can now vary between legs, enabling more interesting creatures.
In addition to streaming, I have also added support for motion primitives that can be recorded in the simulator and then be stored on
an embedded filesystem and triggered by the microcontroller (via remote control or from sensor input)
At this point it is now possible to build and operate a hexapod like robot of any shape and size _without_ having to deal with inverse or forward kinematics.
All you need to input are the coordinates for the coxa joints and their orientation, the length of the segments for each leg and the "rest" angles where the robot is in a neutral syanding position.
On the microcontroller side it is only necessary to know how to open a file on the file system, read it and then send the information about the servo angles to your servo controller code.
To sum up: This enables (almost) no-code hexapod building. Which is kinda nice. This stuff used to be hard :)
In the previous video, the hexapod was moving about somewhat erratically and the motion seemed a bit off. After having uploaded the video, I discovered
that I accidentally had assembled the coxa servos upside down :)
- Contents of this video --
00:00 - Intro.
00:08 - New simulation features
03:27 - Customizing individual segments and angles
08:34 - Basic hexapod
09:46 - Eight legged spider
12:18 - Why motion primitives ?
12:51 - Bot throws a tantrum
13:18 - Dancing shoes
13:51 - Cutting the umbillical cord
14:28 - Battery powah!
14:43 - Mr Bot steps out
15:52 - Next steps
It now supports an arbitary number of legs and three different gait patterns. The legs no longer have to be anchored symmetrically around the robot body, but can have individual
offsets and orientation. The length of the coxa, femur and tibia segments can now vary between legs, enabling more interesting creatures.
In addition to streaming, I have also added support for motion primitives that can be recorded in the simulator and then be stored on
an embedded filesystem and triggered by the microcontroller (via remote control or from sensor input)
At this point it is now possible to build and operate a hexapod like robot of any shape and size _without_ having to deal with inverse or forward kinematics.
All you need to input are the coordinates for the coxa joints and their orientation, the length of the segments for each leg and the "rest" angles where the robot is in a neutral syanding position.
On the microcontroller side it is only necessary to know how to open a file on the file system, read it and then send the information about the servo angles to your servo controller code.
To sum up: This enables (almost) no-code hexapod building. Which is kinda nice. This stuff used to be hard :)
In the previous video, the hexapod was moving about somewhat erratically and the motion seemed a bit off. After having uploaded the video, I discovered
that I accidentally had assembled the coxa servos upside down :)
- Contents of this video --
00:00 - Intro.
00:08 - New simulation features
03:27 - Customizing individual segments and angles
08:34 - Basic hexapod
09:46 - Eight legged spider
12:18 - Why motion primitives ?
12:51 - Bot throws a tantrum
13:18 - Dancing shoes
13:51 - Cutting the umbillical cord
14:28 - Battery powah!
14:43 - Mr Bot steps out
15:52 - Next steps
zhlédnutí: 73
Video
Hexapod Robot Kinematics - part 4 (First meatspace demo - warts and all)
zhlédnutí 229Před 21 dnem
A couple of years ago, I built this Dynamixel powered Hexapod. It sports 18 AX-12A servos and a custom controller board of my own design. It looks impressive, but it lacks proper kinematics firmware. I have to admit that I underestimated the complexity of robotics. Building a robot is easy. Making it behave the way you want is a bit more difficult. In order to properly learn the fundamentals of...
Hexapod Robot Kinematics - part 3 (Espressif Dynamixel driver)
zhlédnutí 81Před 28 dny
A couple of years ago, I built this Dynamixel powered Hexapod. It sports 18 AX-12A servos and a custom controller board of my own design. It looks impressive, but it lacks proper kinematics firmware. I have to admit that I underestimated the complexity of robotics. Building a robot is easy. Making it behave the way you want is a bit more difficult. In order to properly learn the fundamentals of...
Hexapod Robot Kinematics - part 2 (Entering meat-space)
zhlédnutí 769Před měsícem
A couple of years ago, I built this Dynamixel powered Hexapod. It sports 18 AX-12A servos and a custom controller board of my own design. It looks impressive, but it lacks proper kinematics firmware. I have to admit that I underestimated the complexity of robotics. Building a robot is easy. Making it behave the way you want is a bit more difficult. In order to properly learn the fundamentals of...
Hexapod Robot Kinematics - part 1 (Simulator)
zhlédnutí 233Před měsícem
A couple of years ago, I built this Dynamixel powered Hexapod. It sports 18 AX-12A servos and a custom controller board of my own design. It looks impressive, but it lacks proper kinematics firmware. I have to admit that I underestimated the complexity of robotics. Building a robot is easy. Making it behave the way you want is a bit more difficult. In order to properly learn the fundamentals of...
Spar 7 Rebuild using ESP32S3 Part 2/2
zhlédnutí 142Před 3 měsíci
This is the second and final episode of my Spar 7 rebuild. The previous video focused mainly on the schematic and PCB. In this episode I will take a look at the firmware, design and rebuild a new hopper from scratch (3D printed and designed in Fusion 360). The ESP32S3 is a powerful little microcontroller. The firmware is based on FreeRTOS. In addition to the game logic, I have implemented a sim...
Spar 7 Rebuild using ESP32S3 Part 1/2
zhlédnutí 161Před 4 měsíci
This is the first video in a two part series where I rebuild a 50 year old Norwegian coin game (pajazzo).The original electronics are dead and replacement parts for this game are almost impossible to find. There is not much available information online about the manufacturer of this game, but you can find a brief history here (Norwegian only): www.spilledilla.com/VisArtikkel.asp?ID=136.html I h...
Original Odhner 227 Teardown
zhlédnutí 415Před 4 měsíci
My Original Odhner pinwheel calculator was a dumpster find some 40ish years ago. It was covered in some form of sticky residue, so it had to be cleaned up. Except for the sticky mess that covered parts of the outside, there was nothing wrong with it. I cleaned it up and it has been sitting on the shelf as a display piece for several years now. Some time ago, I wanted to demonstrate the mechanis...
Roger - Not your average 3D print.
zhlédnutí 1,2KPřed 9 měsíci
This is a 3D printed version Spacebobs Battle Droid. It stands 1.93m tall and weighs in at approx 14 kg. The entire droid is printed on a 400x400x400 RatRig VCore 3d printer with a 0.6mm nozzle, using 0.2mm layer height. I used UV resin to get rid of any layer lines, The base coat colour is "Sahara Beige" (Montana Gold). Weathering was done using watered down acrylics.
Genco "Baby" flipperless electromechanical pinball restoration
zhlédnutí 761Před rokem
I found this pinball in a storage area at Work-Work (barcade / co-working space in Trondheim. work-work.no/). The machine seemed to be a total wreck, but most of the parts were there, so I asked the bar manager if I could take a look at it and maybe try to bring it back to life. I haven't been able to find any pictures of this machine on the internet, so I hope this will be of interest to any G...
Face Tracking Animatronic Eye Mechanism
zhlédnutí 7KPřed rokem
These are my two replicas of the XBOT 4000, from the Netflix show "Love Death Robots". The face was sculpted in Monster Clay and cast in two versions from a brush on silicone mold. The static version has a simple lidar and and will trigger lights sound samples when someone passes by the robot. The face tracking animatronic version is running custom firmware on an OpenCM 9.04 controller. This co...
Koi pond
zhlédnutí 100Před 2 lety
My backyard koi pond. 4 koi. Approximately 4m3 water. Bioclear 10000 pressure filter
Convert STL files to solid models in Fusion 360
zhlédnutí 1,7KPřed 2 lety
From time to time, I come across a really nice open source model that I could like to adapt to some project. A common issue is that the downloadable files that are under license often are in the STL format. This is not ideal for combining with an existing solid model. This video demonstrates how to convert a mesh into a solid represenation using the "Generate Face Groups" function and the "Conv...
Clogger Goes To War
zhlédnutí 111Před 2 lety
The Clogger fights at the Omega Workshop robot wars (april 23. 2022) The footage is ripped from the Omega Twitch live stream. The full stream can be found here: www.twitch.tv/omegaverksted
The Making of Clogger
zhlédnutí 288Před 2 lety
This is the making of my (somewhat silly) robot that I will enter in the Omega Workshop robot war tournament on March 23. 2022 Contents of this video 00:00 - Intro 01:30 - The Candy Floss Cannon... 03:10 - Downforce 03:20 - Exotic new weapon system 03:30 - Parts 03:35 - Assembly 06:34 - Preview 06:43 - Integration tes
ELDEN RING Astel - Naturalborn of the void
zhlédnutí 19Před 2 lety
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Fixing the Sony ZV-1 Memory Card locked error
zhlédnutí 9KPřed 2 lety
Fixing the Sony ZV-1 Memory Card locked error
Nixie Clocks - Part 2/2 (Schematic and firmware)
zhlédnutí 541Před 2 lety
Nixie Clocks - Part 2/2 (Schematic and firmware)
Wow that worked, Thank you
Sweet build!
How do I participate in this project?
I'll upload everything to github once I'm done. I also tro to maintain a build log at hackaday.io (hackaday.io/project/195749-npod-controller-board-and-simulator)
awesome
Entertaining intro, but I'm not sure if your audience or demographic consists solely of Senior Engineers. So, If I may change it up a bit... [please explain the math to me as if I were a toddler]. 10/10 overall ;)
Thanks :) It is still a work in progress (I'm currently working on integrating servo control into the project. After that I guess I'll add a simple web server with a control interface . I plan to make the code and documentation available on github when I'm done.
Great work, great overall, underrated channel! Love the music at the end demonstration!
Thank you very much!
Wait, is he really a human, or just a human made out of ribbons?
And... it works! But how do you even think about such a thing as the memory card thickness as beeing a potential issue? By the way: thanks a lot!
The error was driving me crazy. This was a brand new camera and the error didn't occur until I had used it for a couple of weeks. If it was firmware related, it should have acting up since day one and also been more consistent. I decided to peek inside the SD card slot and noticed the mechanical microswitch inside. That got me thinking and I decided to test with a piece of tape to force the switch in case it was a mechanical issue.
Great job bringing this game back to life! Plunger housing looks really good! Is the score working correctly? Looks like it’s going from 900 to 1100, skipping 1000.
Thanks :) I didn't do any modifications on any switches. Maybe the scoring behaviour was caused by bouncing contacts ?
+1, where can we get this PCB?
I have uploaded Eagle files and schematics to github.com/hansj66/NixieKit. PS. I would not recommend trying the IN-1 variant of the board since it assumes that all IN-1 tubes have a precise orientation of the digits relative to the sockets (they don't...).
@@TimeExpandernot sure what the IN-1 remark means but thanks. Controlable ":" seperators like other designs would be a nice addition also. 00:00:00 For example. 🤷♂️
@@KJPage I made three different boards. for IN-12 tubes, IN-1 tubes and a generic board with screwterminals. Identical electronics&firmware for all boards, but the IN-1 and IN-12 boards have dedicated tube footprints (and you cant trust the digit to line up perfectly with the footprint for IN-1 tubes)
yup!!! THIS IS THE ONLY THING THAT WORKED! BLESS U
Hello friend. I m doing what you are doing but my 3d design a wheel rim after i convert missing the center. You know how i can fix that?
How did you un-jam the result register clearing crank? I have the same problem. The crank won’t pull out allowing it to rotate.
Since the channel seem unable to respond I ask, have you dissembled the machine following the video?
Sorry for not getting back to you. All the cranks were jammed. I suspect that the machine had been oiled at some point and that the oil had hardened. I manage to un-jam the cranks by adding _more_ oil and carefully pulling/pushing the lever. To my surprise, that resolved the issue.
@@TimeExpander What type of oil did you use? And did you clean the old oil somehow?
@@davidcarlsson1396 Just ordinary sewing machine oil.Not really sure if these machines are supposed to be oiled or not in the first place.
@@TimeExpander Whether they should be oiled or not is an excellent question. I will the coming 3 years attempt to research this...
really nice work. May I suggest replacing the balls? They look rough and might damage your playfield.
Nice❤!
youre a life saver, this worked!
Thank you! Learned so much more in this video! i spent hours trying to find a solution to my STL file issues!
thank you - this also fixed the memory card locked error on the new model sony zv1 m2
Dude, nice beard
I know this was like 5 years ago, but I think Vespas would have done better given the change in resists unless it was different back then, still cool tho. :>
The qr code was a great idea
no source code link? Wow
AYEEEEEEEEE XBOT 4000 WAS MY FAVORITE CHARACTER IN LOVE, DEATH, + ROBOTS! *prays for XBOT 4000*
Nice work! Where did you buy the ball bearing roller from?
I got them from AliExpress (Search for "10pcs 8mm ball pressed metal 5kg load weight mini Ball transfer unit")
worked on me perfectly too, my lexar card on a6500 saved. thank you sir you are my savior
Thank you for your help. It actually work for my sd card
Your game looks fantastic. What did you use to clean the playfield? I have a Genco Double Track from 1938 and it was missing the glass. Pretty dirty.
It's probably not optimal, but I used a very small amount of Novus #2 and a piece of soft cloth to get the grime out. I know this is a plastic cleaner, but it worked out ok.
I can’t believe I watched all that for him to just say put tape and then it actually freaking workkkedddd! Thank u
Nice video! Impressive work on the repro plunger housing.
Hi there, my camera is jammed, like it’s lens is out because I accidentally dropped it in salt water. I’ve left it for a few months. Do you know any ways that could fix it? Or do I have to go back to the store
That's pretty cool!
I`m too young, as my instant thought were: "Where at the flippers?". Oh well, shake it until you tilt ;-)
Liker dremel-slipinga 2mm fra tommelen. HMMMMS!
omg thank you! ❤
Hi sir, What kind of motor are you using?
I'm using Dynamixel XL-320 servos in this project
Thanks and Can you give me detailed instructions on how to load the code for the robot, in the video I see you scrolling through it too fast and what software do you use to load the code? Thank you sir
@@chikhanglam8409 The main controller is an ESP32 and I'm using Platform IO as the development environment. There are lots of resources on the web regarding how to program the ESP32 using PIO. The source code is available on my github repo: github.com/hansj66/automaton-xl320/tree/main/firmware/esp/balance-bot
Skjitbra!
this solved issue with new a6000 and sandisk 64 sd thanks!
this is amazing man i dont know how this video only has 1600+ views this should get more :o
The future is in the past. Our present was someone's future. In our futures we are now living in our past. Time is now.
on a side note this is awesome! well done!
I was searching for how to use MQTT to send an image from ESP32 Cam, without using a web server. And run into your video. Excellent work and video!
awesome!
Thanks!
Xbot-4000
haha this is both amazing and horrifying!
this worked perfectly! Thank you very much! I bought 2 brand new SD cards before finding you!
oh my gosh it works!!!!!!!!!
Can I have a contact information I would like to contact with you regarding this project if you don’t mind.
If you click the "about" tab, you'll find my email addess. (I didn't realize that I hadn't specified a contact email :))
Wow man just saved me! Amazing
HI, can you send a link where to buy these maxon motors ?
I got mine from eBay. I have also seen them on AliExpress. (Search for "mini maxon gear motor")
Interesting, take the liberty to ask~ How do you drive this tube? I have collected this before, but I don't know how to drive it.
The tube was powered by a 450V nixie power supply and I used an arrangement of 3 high voltage mosfets that pulled the cathodes to ground in the correct sequence. There are probably more elegant ways of driving a dekatron, but this was hacked togethere from parts that I already had lying around :)
:>