Robot walking with IK – V0.0

October 14, 2015 Leave a comment

This is rather agony and sliding but please take into account that nothing was fine-tuned, no balancing was used. I just dropped the robot with its new IK walking code on the table :) This is a good starting point and definitely version 0.0…

New splitted power bus

October 14, 2015 Leave a comment

This was the last thing I wanted to do but we had to increase the capacity of our power supply using another SBEC. This way we can provide 9As which seems to be enough. Only 5-6 hours of work and the brand new power bus works in production! :)

Ultra boring process in pictures:


New power bus components


Soldering Y servo cable


New cables


Before: rapid prototype powerbus with one SBEC


Proper leg based power buses


All servos connected


Y cables added


After: final cable config with 2 SBEC units

Walking with inverse kinematics (code testing)

October 13, 2015 Leave a comment

Brand new walking algorithm has been worked out! :) I can test it only without load because one voltage regulator (SBEC) would burn in normal mode.

Inverse kinematics testing in robot body

October 6, 2015 Leave a comment

Finally I could add IK to the base software of our robot. I really did not want to kill the servos in development phase why we needed a software simulation first. I used C# as it is very close to Java and its easy to port :) From math point of view Inverse Kinematics is a monster I want to keep as far as possible from myself :) I used  Vector3D,  Matrix3D and  Quaternion but only in software simulation to understand how it works. The final version of this IK function is absolutely simplified and customized to our robot. Only simple sine, cosine, tangent etc. was enough.

Robot meditation

September 20, 2015 Leave a comment

Let your robot clean its head! :)

Categories: Robot HW and SW Tags: ,

Bad Boy!

September 19, 2015 Leave a comment

What have you done?!?

Categories: Robot HW and SW Tags: ,

Robot box training

September 17, 2015 Leave a comment

Look at these combinations! :D

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