16 Sep 2009
arbotix
robots
It's finally here! PyPose V0.91 is a complete rewrite of the software, using wxPython as the GUI package.
It's world's better than the old release.
One of the great new features is that we finally have a sequence engine.
Features coming later this week (hopefully):
- Live sequence playback
- Drop-down selection of serial ports
- Pose & Capture over a USBDynamixel
- Encoders library
All of these features have been in the works for a bit, just need finishing touches. I'll also have a
video shortly walking through the whole process of creating poses and sequences to make a little
droid walker.
14 Sep 2009
arbotix
issy
trinity-fire-fighting
robots
I've been talking lately about building a walking fire fighter, but I've now finally started
transforming Issy from a mech into a Fire Fighter.
Issy's new body is about 2" shorter in both the width and length direction, a necessary adjustment
to get him under the 12"x12" rule (yes, I know the Trinity contest allows walkers to be 12"x18",
but I intend to take Issy to CNRG, and possibly RoboGames next year, and neither contest has a
walker division, so the 12"x12" rule had to be followed).
Issy has a head similar to what I had on GMR. The head has an IR ranger for 99% of his navigation,
a sonar ranger mainly for approaching the candle (since the IR gets wiped out), an IR photodiode
for fire detection (similar to Crater's sensory), and a ducted fan for fire extinguishing. Issy
is sporting a new
arbotiX robocontroller, and
power is from an 11.1V 2200mAh LiPO. Early tests with IK have shown quite a bit of promise as
far as odometry from walking - I've still got a ways to go as far as implementing a geometrically
stable gait.
Issy's code will basically be another rework of Crater's (cause heck, it works).
10 Sep 2009
dynamixel
robots
The Bioloid kits from Robotis are amazing. They're an excellent prototyping tool, but there are also
a few improvements that could be made. My biggest gripe (and I think most people agree), are the tiny
little screws... eesh. 2MM phillips heads are not fun. I've taken to replacing all of my screws with
socket head cap screws, this lets me use a hex driver during assembly, and saves a ton of time.
Unfortunately, each screw will run you $0.03-0.07, but it's well worth it in the long run. I've
been buying my 2mm SHCS in 6mm and 10mm length, and also 3x10mm for the big screws opposite the servo
horn, from McMaster-Carr:
These fairly cheap upgrades save a lot of time, I think I've cut the amount of time spent on assembly
by at least 50%. Just make sure you have a GOOD set of hex drivers.