really cool - it`s the first time I see real steering via PS3 controller.. so far I have only seen body moves, rotation etc
and you have put all that together and moves are connected with walking
moves are a little bit shaky (is it software or hardware issue?) but i really like the job you've done with controlling the bot - congratulations!
btw. nice video.. background music, subtitles, overall show - cool
- what do you actually do via your phone? is that programme some kind of BT terminal (commands via serial port)? i assume you use it to send commands instead of using pc/laptop with BT dongle?
- where is the PS3 controller connected? probably it's described in subtitles of the video but I have never seen that controller live
and I don't know how the "second end" looks like
on videos i can always see the controller (wireless I think) but I can't see the receiver.. or I see it but I don't know I am actually looking at that
Thanks Demmo, let me clear a few things up for you.
1.) The hexapod has a Fit-PC2 which is simply a small standard computer. People use these to install Windows or Linux(like me) to be used as a home theater PC (HTPC). It has a 1.6GHz Atom processor, GMA500 graphics; same basic computer architecture as most netbooks. The phone is using a secure shell (SSH) client to connect to the onboard computer through WiFi. I do this so that I do not need to connect a monitor and keyboard to the computer, and I can have all the capabilities I need by getting the "terminal" program of the computer wirelessly. BT is not used for this.
2.) The PS3 controller uses bluetooth for the connection, so there are no wires or other non-standard wireless components. I am using one of the USB ports on the computer for micro BT dongle, and it works great.
Yes, the movements are shaky, which is due to possibly a few reasons. The Robotis motors are very slick in that they have a huge range of 300 degrees, and that the motor control parameters may be adjusted. After talking to Matt Denton who has been playing around with these same motors, he has given megreat insight to possible operation to these motors. So shakiness is probably due to the following:
First, 10-bit resolution of the output results in poor overall resolution of positioning. As a result, any PID controller within the electronics will have poor performance. I have tried to give the motors decent control parameters, but right now they seem a little harsh.
Second, there exists a decent amount of flexibility in the physical hardware. As I keep saying, the thread-rod for the tibias as well as the little bit of femur flexibility causes the whole body to shake a bit. The current dynamics however are really not ideal, and really make the hexapod shake just about as much as possible. I worked on the dynamics last night to make this better, so the next video I take will hopefully have a more polished performance.
I'm glad you like the song! It is actually me that made the song (I am 12 Cent Dwarf). It's an older song I made a few years back, but certainly the best one i made at that time.