Quadruped robot 4DOF
ฝัง
- เผยแพร่เมื่อ 5 พ.ค. 2015
- Download code: www.dropbox.com/s/bwha6tr1yw0...
Best way to build it yourself is using this set as a starting point: www.robotshop.com/en/lynxmoti...
What I did is add 4 servo's and the code you find in the link. Mine uses 16 HS-645-MG, because of the weight. A also added an accelerometer and 4 footsensors, but you can disable this easily in the code.
Hope this helps. - วิทยาศาสตร์และเทคโนโลยี
This is like a workout video for robots.
Very unusual for a quadruped robot to have such fluid movements.
TX
@@eriklely Did you use inverse kinematics to make it so life like?
@@eriklely man i can make you a website if you are going to share the codes
Smooth movements are great. It gives the robot its own character.
This is beautiful, the motions are so fluid. it's a work of art.
Tx!
its interesting that when lifted it reached back to the ground but when you lift one side it raises the legs higher. is that based on an acelerometer/the fact that only two legs are lifted or is it two separate modes ?
I can see the phoenix code in a lot of the motions but the gait you've developed is so much more fluid.
Very fluid. Love the movement.
Woah.....great build, I want to attempt this.....love it!!
That circular motion makes me think it should have a filament extruder attached. Imagine it building a home for itself!
lol
This is amazing!
wonderful job a piece of art :)
Amazing...thanks for your incredible work, I enjoyed seeing every part
Wow, nice compliment. Thanks!
Nice! :-)
interesting. thank for sharing, it inspires us
Good job, very impressive quadruped and a i like the song too :)
Thank you man for the code.
I suggest you take some time to write a github article or an instructables... i would be tipping you
this ones head looks pretty cool
This is great. Thanks for sharing your code as well. I was wondering if you have or could point me in the direction of how to solve the 4DoF problem for these legs? I am new to robotics and I am trying to learn instead of just using your code without thinking. The robot i am trying to build is a hexapod with 4 DoF legs. Right now I am working to understand just one
beautiful
It's so damn smooth moving, what servos are those and what program did you use? It's a beautiful piece of machinery and I would love to know the components of this build! Never seen a quadruped move like this with such fluency and it gives me chills because it's so lifelike, and because a robot could actually move so error free.
Hi! I would like to ask what material is used on it linkages? Thank you!
This is amazing:)
damn the clearance on that nice
Awesome one of the best
Beau travail...
Wowww Awesome!
Wow !!! Nice Robots )))
Now we just need an army of these little guys equipped with tools to build our lunar colonies and mine asteroids for us.
Could this be done with 3 legs instead of 4?
wow wonderful !
Awesome!
Perfect
The true age of robotics mobility have come, wow!
TX!
Epic robot
i noticed why its movement very fluid because of it has 4 motor per legs compared to 3 motor per legs on most quadruped robots
Just subscribed after watching another video of yours. Would you say that aside from the extra limbs and any additional programming, they have the same functionality, or do they have characterisics that make them more adept in one situation or another?
What's your favorite?
My next one...
Yes they have a lot of common functionality. It's more evolution, on every next model I try to integrate more functionality i.e. camera, gyro etc. Next one will be gps or some kind of navigation function.
Suggestions?
I'm about to build a hexapod, will this code work on it as well? what you have in your video is a quadropod. Thank you
you are awesome.... thank you....
Hi, very nice robot! How do you supply power? I tried building something similar but my servos draw too much current for a cheap 2$ buck converter from ebay :D
The quad you referring to uses a 7.2v lipo, a ssc32 servoboard and no extra converter.
I love this, i could watch it for hours. Mesmerising movements. The stability is excellent, and when you lifted it it started to compensate for height. Infrared height detection or pressure pads on feet? Beautiful work and coding, thanks for sharing.
And a code download link too :)
Gyro detects if it’s level is my guess
Well done. Thanks.
Thanks!
How did you generate the IK Model for this bot, I imagine you didn’t hard code all the servo angles? Very cool, a true inspiration!
I am using the IK of the very well written phoenix code. Kudos to the developers.
how did you get the parts and what did you do to make this happen I would like to make this happen I'm studying I.T and I go to school for electronical engineering I'm an undergraduate
Are those servos HITEC 645MG?
Those are expensive. Is it possible to recreate this project with similar ones? If so, what are the main specs I should be looking for?
Love your work
You need at least metal gear servo, because it's quit heavy and can stretch it's legs quit far. I used HITEC 645 MG back then.
16 serwos what is it powersource? i guess li-po batteries with dc converter. Something about 5V, 20-30 A?
nice
Can it gallop? That is, are the servos fast enough with sufficient torque to make it take a jump forward, land, and posture into the previous maneuver so that it traverse ground quickly?
No I don't think so. If it is possible you would ruin the servo's very quickly.
Which servos are you using? And how are those C-clamps attached to the servos on both sides? Did you modify the servos or something?
Build it a long time ago and back then I used : www.lynxmotion.com/p-286-aluminum-multi-purpose-servo-bracket-two-pack.aspx parts to build my robots.
I would like to get the code but i can't get to the website
;( any suggestion?
Love this. Só fluid. Can he go Faster? This is só beautiful
Wowwww oh my god!!!
Such an impressive range of motion! How much more difficult would this be to replicate as the size and mass of the robot increases?
Depends mainly on the servos. This guy scaled up to really big: th-cam.com/video/1sRlFQLwg3w/w-d-xo.html.
In this case a botboarduino for IK and and SSC32 as servo board.
is this code work for every quadruped we made? i mean of course mine quadruped didn't have the exactly the same electronics spareparts as you. will the code work in mine?
Depends on your controllerboard. Code is arduino compatible. There is also a version for Raspberry PI (3or4)
where can I get some software for this on python? Ive written my own software in python with Ik that works basically but want to get body IK working.
Link added
잘 만듬 인정
Is it possible to buy a working model ?
This is Brilliant! Is this available as a kit? It looks like the lynxmotion bots, but I cannot find a quadruped with 4DOF on their site.
It is the SQ3 of lynxmotion, but I added some parts for 4DOF. Can send you the project details and code if you give me your email.
Thanks! stampboi@gmail.com
Hi Erik. Would you mind sending me also the code and take a look of it? Thanks: redes@ciberdosis.com
Can you send the project details to me as well? theplaguedoctor001@gmail.com
trop bien jadore ce robot
Merci
What servos did you use?
HITEC 645MG
Oh its so cute
Where did you get the algorythms to move the legs. Figured out yourself?
It's based on the phoenix code, it's easy to find when googling and can als be found on github
Hi Erik.. its difficult or not for beginer to make like this?
I think you would rather start out with a hexapod instead of a quad and 3DOF instead of 4DOF, so perhaps not.
Your code link doesn't work and is this 3d printed and Arduino coded?
updated the link
@@eriklely thanks! What about making process? Tools required and how to assemble them?
Do you have a tutorial on how to make it in detail?
I am thinking about creating some how to videos. If you follow my channel you'll see.
How long it takes him to walk one meter ?
Never measuerd, but looong.
incredible money of servo motors
@Erik Lely is this really 3DOF or 4DOF, i checked n the Lynxmotion site I do not think they have a 4DOF for quadruped
It is 4dof, a modified version of thee 3dof verstomt wit modified code.
OK. great how do you modify it. I am in Africa.. I currently want to order one but its 3DOF, how ca i upgrade it to 4DOF. any help would be appreciated
Supply me with your email and I'll send you the details.
carultrix@yahoo.co.uk thanks boss. would be looking forward to your message
Hello boss. I really appreciate your help please..but I haven't yet received the mail.. Thanks in advance
What's this controlled by? Raspberry?
Botboarduino, an Arduino Duemilanove based board designed for robot.
Haha what an awesome little robot! Ugh… but I get so conflicted whenever I see a video like this. If you're willing to help me with an explanation, I would greatly appreciate it.
While I recognize the psychological draw to anthropomorphizing these technologies, I'm not sure if I recognize the utility of such endeavors. At least as far as robots are concerned. It's not that I don't recognize the value in experimentation - I completely understand the desire to work one’s way through a problem towards a solution. And I know how gratifying it can be when that happens. Beyond the personal value, I also understand that this is the kind of thing that drives innovation, the kind of thing that pushes us forward.
What I'm not understanding is the apparent fixation on creating robotic devices that can walk. Sure, you're finding innovative solutions to new problems - but are these problems that need to be solved? It seems to me that bipedal, quadrupedal, (can I say n-pedal?) locomotion is a tremendously difficult and complex problem to work through in order to get a robot moving this way. We as humans take walking for granted. We don't have to think about it. We don't have to try to keep our balance, it just happens. Not so for a robot. Sorry to assert my ignorance here, but I can't even imagine the programming required to accomplish what we see here with your little quadruped (which is totally awesome don’t get me wrong) not to mention more advanced robotics like Spot, or Atlas from Boston Dynamics.
Amazing? Yes. Necessary? To be determined, I suppose. Is n-pedal locomotion the most efficient means of getting around in the widest range of scenarios? Big-Dog seems to be a very capable companion, able to move across many different landscapes. That robot has got to be enormously expensive though. It's also extremely noisy. Would it wheeled or tracked automaton be a better choice for the task that it was set up to do? Was that robot even created for that task in the first place? To be a glorified luggage tote? Is there nothing else that would do the job a little better; a little cheaper; a little less noisy?
tl;dr
Would you please explain from your point of view, the inherent utility in anthropomorphic robotic design?
Thank you for your time..
Perhaps better to do this via email, mine is eriklely@gmail.com.
The simplest response is that there are many types of terrain where wheels are crap and even treads have major difficulties. Flight of any type is power intensive... which leaves us with variations multipedal movement. single and bipedal are inherently unstable and require far more active processing, but as the number of limbs goes up, necessary processing goes down... there are many hexapodal systems that can move faster than a human and get into places that humans cannot go... THAT is their use and functionality... locomotion methods are driven by their final usage. A robot traversing hallways or open pavement is more often suited to wheeled motion... until it hits a set of stairs... robots that will climb the side of a building or structure is more suited to legs of one kind or another... there are a LOT of needs for legged type robots... and where there is a need, robots will be built to fill that need... expense is entirely driven by the technologies available and the design and materials. Many means that would have costs tens of thousands of dollars a decade ago can now be vuilt for a couple hundred... such is the way of tech building upon each other.
Is this done with Arduino? Roughly how much did you spend on parts?
Done with botboarduino and ssc32u. I had most parts lying around, but I think it would cost you around 600 dollar (guestimation).
Correct!
For the 4dof I obviously added some extra parts, but only 2 (x4) parts are needed to change from 3dof to 4dof:
www.lynxmotion.com/p-286-aluminum-multi-purpose-servo-bracket-two-pack.aspx
www.lynxmotion.com/p-402-aluminum-offset-servo-bracket-with-ball-bearings-two-pack.aspx.
And 4 MG645's of course.
I am happy to send the code to anyone wanting to build it.
how to buy this robo parts ?
what do you youse for the elektroniks :0???#
A botboarduino and SSC32
That is use arduino due ?
It is arduino, but a very old one: botboarduino
Hello. Could you send me the parts list for this project?
He not add parts, only code =(I do not find stl files.
No stl's available. Parts used are metal parts.
Whats the top speed?
This is fantastic, I would love to have a discussion with you about this beautiful creature, I love robotics and currently build and sell autonomous drones all around the country. I would be open to compensating you for your time, please let me know thanks and have a great day!
I'm interested to make this, how to make this sir?
Your link broken, i can't open it
I made this one like 10 years ago and most parts are hard to get by now. The botboarduino, and ssc32 servo are really old school and the used pars are metal parts, not 3D printed. If your are still interested I coudl send at least teh code by mail?
@@eriklely kindly to save sir, design, electrical block diagram and the code. For learning purpose. This is my email, anwarsanusi0@gmail.com
Thank you, hope the god bless you
@@eriklely could you please send me electrical block diagram and the code. For learning purpose. szymon.avrarm@gmail.com
@@m.anwrs59 Hi, did you get the code?
no stls anymore?
www.iroboteer.com
it reminds me of cod infinity warfare
Is there a link to the stl files?
There are no stl files of this one. Parts used are metal.
What code are you using?
read description
look very realistic! I love it. would you send me code and stl file, please?
where can we find the stl files and the code ?
Link added in description of the video
@@eriklely thxx 😁
Musik?
If anyone is having trouble with the download redirection just copy the link and paste into a new tab (on chrome).
You sell? What is the price? I want!
Haha, it's probably more expensive than you think. And not as sturdy as you would want.
What happens to these projects? Would you ever sell?
I do build robots for others when asked. Mostly I reuse parts of built robots. This one is the only one I kept in one piece for sentimental reasons :-0.
@@eriklely That's understandable. Is it possible to build a complete replica, or a "kit" for one to assemble themselves?
h my gos i wanna build one!i will start printing
Wondering if anyone knows where to purchase the body
Body of the base version is available. But for this type we have to create our own model by 3d printing
This is the base model: www.robotshop.com/en/lynxmotion-sq3u-symmetric-quadruped-walking-robot.html
How much money for this one?
It's a quit old hexapod by now and quit old compenents as wel. I paid about 900 dollars in parts back then.
Holy Moly. Okay thank you very much. You make nice RC Robots and it’s a pleasure that you Share it
You could go cheaper, all depends on your choice of servo's. I used 16 HITEC 645MG, but you could try some chinese versionsfor around 10 dollars which reduces overall costs by about 500 dollar.
What was the build and programming time for this?
Man where can i get the code and the project??
Link added in description of the video
@@eriklely thanks a lot
@@eriklely i promised you in another post that if you share the code i could host and make your website.
If you are up to it i can have it done without too much hassle
Send me a email how mutch money you want for this. Your link is not working
Link added in description of the video
Hey Nice video Awesome. Can you share the project details:) wanna build it
+TearDown No problem, just give me your email and I'll give you the details you need.
thank you buddy:)
vivekgr92@gmail.com
+Erik Lely Hi Erik, I'd love to have a go at building one, I've done a hex before (I think a small vid on my channel somewhere..) but it was pretty crap compared to this! can u pls email me some info at geoff@hex3d.com
+Erik Lely Hi great project
Can you send me?
rusenyyc@gmail.com
thanks.
Could you also please share details with me? Going to build something similar to this : nanus1337@gmail.com
Make a bigger one, then give it a flamethrower and enter it into BATTLEBOTS!
Working on a battle bot now.
Its amazing and very Impressive. Please send me the code, stl files and parts list. Thanks.
Mail?
@@eriklely You are way too nice!
This is super cool, but at the same time I am an arachnophobe and it is way too life like, so another part of me says kill it!
hi! the link is broken
updated the link
FYI this is 16DOF bot
Correct :-)
Create a web and sell the kit!
16 DOF
Can you please send me the code? thanks
mail?
mane234564@gmail.com
jorgensen2004@hotmail.com
osmanekici46@gmail.com
Wonkyo1234@gmail.com
16 dof.
Это очень здорово!Возможно узнать подробности как это сделать? Моя почта yakovskimen@mail.ru