4DOF Hexapod using ROS

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  • čas přidán 26. 08. 2024
  • First steps of assembled (mostly, Xtion and antenna mounts still missing) hexapod.
    Some details:
    Body is custom-milled aluminum
    Each leg has 3 Dynamixel MX-64T servos for coxa, femur and tibia + AX-18A for tarsus
    Dynamixels are controlled through USB2AX module
    UM7 sensor for orientation control, connected through CHRobotics USB expansion board
    Asus Xtion RGB-D sensor for mapping and obstacle avoidance
    All kinematic calculations and processing of sensor data is done by on-board Intel NUC DC53427RKE
    For now hexapod is remotely controlled with PS3 joystick, later some autonomous capabilities will be added
    Software:
    Ubuntu 14.04 + ROS Indigo
    Pypot for controlling Dynamixels
    ROS packages:
    um7 for reading from UM7
    openni for reading RGB-D from Xtion
    depthimage_to_laserscan for converting RGB-D data to laserscan used gmapping
    gmapping for SLAM
    Movement is controlled by a self-made ROS node, written in Python and containing inverse-kinematics solver and gait controller.
    Peculiarity of the gait controller is that there are no pre-defined gaits, all movements are calculated on the fly based on current position of thorax and limbs and target direction at this exact moment. New commands can be issued at any time and legs react instantly, without need to complete gait cycle. All legs are mostly independent of each other and only know whether immediate neighbors are landed or in swing. Whole gait forming is based on the restrictedness approach described in exhaustive detail in Michael Fielding’s thesis “Omnidirectional gait generating algorithm for hexapod robot”
    Gait generation parameters have not yet been optimized, so eventually movement should be smoother.

Komentáře • 26

  • @Hardwareai
    @Hardwareai Před 2 lety +2

    Impressive! It would be very interesting to use RL for walking gait fine-tuning.

    • @user-et1ig2ye1w
      @user-et1ig2ye1w Před 2 lety +1

      Oh yes of course.
      See also Roboquad robots faits:
      czcams.com/video/Fs_8OKB-R8c/video.html

  • @gazetworld334
    @gazetworld334 Před 2 lety +2

    Ingenious 101

    • @user-et1ig2ye1w
      @user-et1ig2ye1w Před 2 lety +1

      Oh yes of course.
      See also Roboquad robots faits:
      czcams.com/video/Fs_8OKB-R8c/video.html

  • @magnuswootton6181
    @magnuswootton6181 Před 3 lety +1

    nice to see youve got a depth camera on it.

    • @user-et1ig2ye1w
      @user-et1ig2ye1w Před 2 lety +1

      Oh yes of course.
      See also Roboquad robots faits:
      czcams.com/video/Fs_8OKB-R8c/video.html

  • @EmmanuelSichet
    @EmmanuelSichet Před 9 lety +6

    Wow ! this is really impressive ! good job :) Do you have a website or a blog ? I would love having more informations about your software and algorithms for the gaits but also about he build of the beast ^^ I'm currently building a hexapod and it would be very hepful for me knowing more from your project.

    • @nikachachua5712
      @nikachachua5712 Před 2 lety

      im now on ur way 😂 learning like u can u help me now as u wanted somebody to helped u ? 🙏🙏pls

  • @noway8233
    @noway8233 Před 4 lety

    Wow impresive work, and very good hardware

  • @wolfe1970
    @wolfe1970 Před 3 lety

    Thats some slick moves

  • @MertBolat0
    @MertBolat0 Před 3 lety +1

    Very nice!

    • @user-et1ig2ye1w
      @user-et1ig2ye1w Před 2 lety +1

      It's cool! Oh yes of course.
      See also Roboquad robots faits:
      czcams.com/video/Fs_8OKB-R8c/video.html

  • @DSB.TecnologiaMaker
    @DSB.TecnologiaMaker Před 4 lety

    Good job 👏👏👏👏👏👏

  • @KevinOchs
    @KevinOchs Před 8 lety

    Nicely done. :)

  • @bigvortex1921
    @bigvortex1921 Před 9 lety +1

    Приветствую. А практическое применение ему будет?

    • @gbaitsur
      @gbaitsur  Před 9 lety +1

      Виктор Бердюгин Пока никакого практического применения не планируется :)
      Сделал его, вдохновившись Golem (forums.trossenrobotics.com/showthread.php?6725-ROS-Hexapod-project-Golem-MX-64-4dof), но, в отличие от того, у моего нет заранее запрограммированных походок. Каждая нога не знает, куда будет двигаться в следующий момент и что происходит с другими ногами, кроме соседних. Да и про соседние знает лишь, подняты они или опущены на землю.

  • @DSB.TecnologiaMaker
    @DSB.TecnologiaMaker Před 4 lety

    Isso é programado ? Ou é controlado ?

  • @Tuckobi
    @Tuckobi Před 3 lety +1

    Files or it didn't happen.

    • @user-et1ig2ye1w
      @user-et1ig2ye1w Před 2 lety +1

      Oh yes of course. Maybe, maybe...
      See also Roboquad robots faits:
      czcams.com/video/Fs_8OKB-R8c/video.html

  • @fred-9929
    @fred-9929 Před 5 lety

    Grigory, did you finally re-wrote the code, as you told me, a few months ago?

    • @gbaitsur
      @gbaitsur  Před 5 lety

      Fred - no, I was busy with building this thing: czcams.com/video/QYrEh7jGLeA/video.html and did not spend any time on the hexapod.

    • @fred-9929
      @fred-9929 Před 5 lety

      Very impressive!
      Would you mind sharing your current hexapod code, implementing the restrictedness design? I plan to implement such gait in my Python framework, with a friend in our hackerspace...

  • @gazetworld334
    @gazetworld334 Před 2 lety +1

    Ingenious 101

  • @gazetworld334
    @gazetworld334 Před 2 lety +1

    Ingenious 101