Hexapod Makeover

[blegas78]

Thanks for your comments BillB!

My professor advised me against releasing the hardware as open source unfortunately, especially the bluetooth version for controlling Robotis servos.

So I have been working on the balance gestures. Before, the balance gestures were very artificial, but now I have come up with equations for 2D balance gestures from the idea of having "springs" pull everything together. A little difficult to figure out at first, but it all came together fairly nicely.

For 3D balance gestures, I can easily implement body roll and pitch and lift with basic equations, but should I also model these with springs? What have other people done for 3D balance gestures?

[blegas78]

Well I got the 3D balance gestures figured out with all springs, but I would still like to hear what other people have done.

[blegas78]

I am curious as to what the community likes better, though I think I already know the answer

Which design do you all prefer? The original or the new?

[Matt Denton]

Yeah loving the new leg design! look forward to seeing on the hex

[innerbreed]

matt prob wont allow me to use such words here but in short that looks the F-dogs-B!!
well done on creating such a great design. the tibia designs are very similar to what i had intended for my stalker robot.

loving your work. keep it up.

[Zenta]

Looking good!
I like the curved femur and especially the long and solid tibias. Are you planning to have a sensor switch on the new tibias too?

btw: The head looks very interesting too, any rendered closeups?

-Zenta

[blegas78]

I'm glad people like it, too bad I didn't do this at first though...

the tibia designs are very similar to what i had intended for my stalker robot.

I was probably inspired by your rendering when I saw the image a while ago, as well as years ago when I saw this awesome-yet-ineffective battlebot Mechadon:




Zenta, I will get some more images up tonight

[blegas78]

Looking good!
I like the curved femur and especially the long and solid tibias. Are you planning to have a sensor switch on the new tibias too?

btw: The head looks very interesting too, any rendered closeups?

-Zenta

I do plan on having a contact sensor. I am thinking of simply adding a force sensor to the end of the tibia like in lynxmotion's foot sensor kit, but I will make it on my own.

Here's some images:





I ran out of the grey plastic which I really like, and this is really the rest of the black plastic in the lab. I'm not a big fan of the white plastic. I will have to wait till the lab gets more funding, which will hopefully be soon so I can get some plastic cartridges.

[Zenta]

Awesome!

I agree about the white plastic. The differential gear system for controling the head was simply geniously (probably spelled wrong ).
You never cease to impress me of what is possible to make out of that 3D printer! I think we all are a prett envy about having access to a machine like that.

Your design reminds me a little bit of this (especially the tbias):



-Zenta

[blegas78]

Wow, my tibia design turned out almost identical to that!