Robot Dog Part 1: Leg Day
ฝัง
- เผยแพร่เมื่อ 27 ก.ค. 2023
- In part 1 of building a quadrupedal robot, I'll be designing, building, and programming a 3DOF leg. I'll cover topics like inverse kinematics, gait sequences, and future plans for the project. Subscribe for part 2!
Website (Project Overview and Interactive Models): aaedmusa.com/projects/tops
Hackaday (Project Logs): hackaday.io/project/192122-top...
GitHub (CAD, Code, BOM, etc...): github.com/aaedmusa/TOPS - วิทยาศาสตร์และเทคโนโลยี
![เกิดใหม่ทั้งทีก็เป็นสไลม์ไปซะแล้ว ซีซั่น 3 - ตอนที่ 58 [ซับไทย]](http://i.ytimg.com/vi/TgNEbYSTY0Y/mqdefault.jpg)
1. Love the paid actor.
2. Love the humor.
3. I hope you never stop making videos of your creativity. Really awesome.
I love how you have the same base actuator for all joints so any spare parts are going to be usable for any joint that breaks. Really high quality video and I'm sure you'll be at 10x the subscriber count in a short while if you keep this up.
This has been on my for you page for almost two weeks now (I was subscribed already, but never took the time to watch it). Dude your videos are top quality. From the great engineering to the funny jokes and smooth video editing. It all comes together so nicely. Hopefully we can enjoy you for many years to come!
The quality is insane! Such cool videos, Keep it up!
I'm just wondering why youtube didn't give me notification about this video. Man very good video and I like your video style just keep it up you will hopefully and surely have a lot of followers
That’s solid work and a solid edit. Thanks for sharing.
Re Hammering Bearings - you have quick clamps, just use those, way easier on the bearing and way quieter.
Also, be careful with adding slots/grooves to printed parts - it's a weird quirk of additive design that sometimes adding a lightening feature adds more weight because it is heavier than the infill it replaces. This will be heavily dependent on slicer settings but double check in the slicer. Yesterday I designed a whole new part for a project, tried to minimize weight by removing material and then realized that infill was lighter still.
But hammering them in is more fun :( Also what you said about weight only applies if you manually increase the infill setting (which I'm not doing). If you take volume from an object you reduce weight simple as that.
@@AaedMusa "If you take volume from an object you reduce weight simple as that."
Assuming a uniform density, yes. But prints don't have a uniform density. Walls are more dense than infill. It's very dependent on geometry but there are cases when adding walls (ie adding holes) can increase the mass of the part. It's especially prevalent with a lot of small holes.
@@aschreiber Could that happen if you used extremely small holes and had very specific settings? Yes, but I added deep grooves in my parts, so the added weight from the walls is insignificant.
@@AaedMusa It's not quite as simple as that but carry on.
@@AaedMusa I hate to say this, but they are right. This video sums it up pretty quickly. th-cam.com/video/AURCtaRrUGM/w-d-xo.html
You can also test yourself by slicing the part with and without the holes. The preview should tell you exactly how many grams of material it'll use.
As a PhD candidate in engineering, specializing in robotics, I must say: Excellent job, mate!
I do have one suggestion though. I'm not sure about your plan to realize the walking pattern. You mentioned that the circle made by the foot wouldn't be useful for walking. I spent a year working in a university lab that had its own quadruped robot. The team was able to achieve walking through the implementation of elliptical shapes in foot trajectory. Essentially, anything below the horizontal centerline was exerting force onto the ground while anything above it was lifting the foot. However, I'm confident that you've already considered this in your thought process. :)
Love it! Great pacing, solid explanations. Fascinating build.
Great work! Can't wait to see the rest of the build!
Great Work! Can not wait to see the finished dog one day.
this is awesome, looking forward to seeing progress
Your design iterations come flying at break neck speed. Loved the video and your humour.
This is amazing. Great work! Looking forward to more updates.
I love your videos! Excited to see where this project goes.
Love the detail you goto in your videos. Its not for everyone but means I learn things ❤
Damn, ur up to some sick stuff, I hope u get more subscribers and recognition, cuz your work deserves that
Hey there! I wanted to let you know that I'm really impressed by the robotic projects you've been building. I'm actually interested in making a project myself and was wondering which 3D software and 3D printer you've used in your projects. I'd appreciate any advice or tips you might have on building a robot. Thanks!
Another outstanding video! Thanks for sharing it with us 👍
great project ! very inspiring. I was looking to build some king of walking robot and found your videos. love it
Ra domly fou d this channel. I've always been fascinated in everything you've talked about in these videos. People like you give me the motivation to actually move forward with learning this stuff and making my own. Awesome work man!
I thought i am watching a big youtuber the whole time ... then i saw your subcount! give this men more attention pls
I love Boston dynamics so much. I have a few shirts from them because my cousin works there 😊
Nice! That’s definitely my dream job.
Well done. The editing was awesome and probably took as much time as the build!
Yep 😅
Looking good! Stoked to see the project
Thanks! Love your work dude
Waw, did I enjoyed watching this! Really awesome and great ingenuity!
Dude. So proud of you. Keep going!
This is some solid work! Also nice video work!
Quality work, thank you!
The only thing I look forward to more than videos from you is your channel's eventual take off into millions of subscribers! Seriously if you keep making content this great with random jokes like a cameo from Plank it's becomes a matter of when and not if.
I'm getting a heavy "HowToBasic" vibe at 02:44, and i fuckin' love it! Just missing a couple of eggs.
When you hit 1m subs in the future, just remember that I subbed when you're at 14k subs, you deserve way more subs with these quality videos!
the editing is really good on this one 👍
Very cool project!
love your videos man, this is awesome!
Amazing project and skills : )
Fantastic! I’ve really enjoyed watching the progress. Humorous and high quality edit.
About that hammer…
You should build an arbor press for yourself side pressing those bearings in wouldn’t require the force of a manufactured arbor press - with some plywood and some various other materials, you could have a quality coming together session with your gear and bearing assembly…
…or just get a C-clamp or a vice, either will come in handy often enough in other situations.
I will add, I am impressed with the work you are doing with minimal tools.
Looking forward to the next video!
Jo bro this is so cool I came from you tiktok and I was not expecting this can’t wait for a part two
first video after I subscribed to your channel, amazing content, keep it up!
Well done!
Dude, at 5:06 is that how your bed wobbles? it's not Ok if it's not just for the video. I fucking love your project! And its quite the investment! I instantly subscribed the moment I landed here from TikTok. I hope to see it finished
Great project, looking forward to seeing you progress. Just wanted to share a tip... I am using carbon tubing on a new project, and I'd like to suggest you fill the end bits where the screws pass thru with plastic plugs to drill / screw through, otherwise you will surely experience loose, twisting legs in no time at all. The screws will quickly wear at the holes in tubing, and you're done. Carbon fiber has super tensile strength, but fails on friction shear. Save yourself the trouble, plug the ends of the tubing.
Thanks for the tip! I have actually experienced a bit of shearing already.
Great work, keep it up!
I love the design! You might consider using magnetic encoders or some such to do your limit sensing.
Very impressive !!!
my favourite part of this video was the hammer joke. Nice going Thor.
#Subscribed
I've been meaning to learn more about CAN bus myself. Seems like a smart way to go given how many controllers you're likely to end up using. 👍🏻
Yep I’ve been doing a bit of research and it’s pretty interesting stuff. It’s definitely going to help reduce wiring and allow me to control 12 actuators.
i really like your vids, and i want to make my own project and ideas similiar to your ballbalancing robot.Can you make a guide vid on how to start and what basic stuff to buy?
i laughed hard at the "paid actor" part
Someone get this guy a few X1C'S. Hes got skills!
Nice project 💪
very cool!
Good hammer choice. :D
They should have more views, and you should have more subscribers. When the algorithm finds you your channel will pop off. This is an amazing video and you have a great channel. Keep doing great things.
Amazing!!
nice cool stuff
Loved it
The wood character from Ed Edd & Eddy really cracked me up 😂😂
Since your actuators won't rotate more than 360 degrees, you could consider putting an encoder on the output shaft of the actuator to detect the absolute position of the joints. This would replace the need for limit switches and homing since you'd always know where each joint is.
It would but 12x encoders are expensive. I’m doing something different for the redesign.
@@AaedMusa I just got a few AS5600 magnetic encoders from AliExpress for 64 cents each. After testing one out on a SimpleFOC board, the precision is excellent. I don't know if it will work with an ODrive though, and mounting an external magnet on your joints does sound like a challenge.
The limit switch thing is pretty cool but when the dog is fully completed how are the actuators going to know their location when the dog is finished it’s going to be really weird to see when the robot dog is having a spasm on the ground
“County sherriff’s department I will release my dog on you!”
Love the video. May I suggest using absolute encoders, like the AS5600 or similar. It made my life much easier in my robotics projects. As CANBUS can be finicky but it is worth it. Keep it up, this work is awesome
It already uses absolute encoders to measure the position of the brushless motors, but since there is a 9:1 gear ratio the output shaft turns at a different rate, hence why I need limit switches.
You can use a potentiometer in the leg joints to know the position of the legs @@AaedMusa
@@audrisvitolins6048 Potentiometers aren’t as accurate. The encoders that I’m using go to a fraction of a degree. The reason I don’t add an encoder on the output shaft is to reduce cost and also to reduce the amount of electronics/wiring.
Hey, love the video. I was wondering what motors you are using for the actuators. Thanks for the great video!!
Eagle Power Brushless Motors. Link in bio for more info on the technical specs.
@@AaedMusa Thank you, I love your videos by the way.
Bro alrdy won in life
best chanel ever jajajajaj
nice vid
Awesome video! Do you have a way that you can sense when the leg is touching something? I'm seen others make legs similar to this, but not one that can sense when it touches something and how much pressure it is applying.
No foot sensor but it isn’t needed. The actuators use FOC motor controllers which means that they are compliant. In other words, I can’t get a foot pressure reading but the leg can react as if I can.
these walking instructions could be programmed on a music box from the middle ages.
Very nice video, what would you say your timeline was from day 1 to what you posted in the video?
If you count the actuator design then about 2 months. For just the leg design about 3-4 weeks.
cute cat ❤
Pretty sure you should just be handed a diploma immediately. This is so cool, and your methods are next-level.
Any advice for getting further in tinkering and engineering? I want to create projects like these but I find struggles when it comes to fabrication and initial design .
Love the hammer 😂
I would like to know where to get the right motors. Can you use Lg drone motors. like 950kv 5200??
I was thinking of reaching out to you to ask about more details on the inverse kinematics and how did you do that calculation :)
me too
It's available on github. Link in description.
thanks!@@AaedMusa
Plank 😍
👍
What did you study? I like your videos 👍🏽
currently studying Mech E
Questions: does the odrive have a limit switch input?
Does it have canbus?
Is Tops currently a Cyclops with that singular googly eye in the end screen? Or would you then have to call them a Cycltops?
Do you live near a makerspace with a CNC or laser cutter?
Love it, but why do you use Arduino IDE and not platformio?
Never heard of that. Arduino is convenient since I’ve used it so much. Also there are libraries for the motor controllers specifically made for Arduino.
@@AaedMusa Check it out if you have the time. It`s an extension for the vscode editor and by that you get features like auto completion but also useful key binds. I use it for every project and never touched Arduino IDE since then. It supports all kinds of boards and frameworks.
About the libraries...
platformio also has a lot of libraries by the community, but I can`t tell if every library you use is available.
Maybe you could try sensorless homing for the legs rather than limit switches.
Sensorless homing isn't as accurate and limit switches are a lot simpler.
@@AaedMusa sensorless homing is accurate enough for the majority of uses. It would be accurate enough for this. Limit switches are not really simpler at all. If you have a motor driver that supports sensorless homing then it isn’t that difficult. If you use limit switches you need to add the limit switches, wiring and places to mount the limit switches plus something to trigger the limit switches and they take an extra pin on your microcontroller, that is a lot of extra parts and complexity if your motor driver has the functionality already built in.
The best option though is just to add absolute encoders.
what website do you use im new to this
let me know when it can give me a Rusty Venture
Will it bark?
why not a hall sensor for limit? isn't this going to break the part if something goes wrong?
check out part 2, I fixed this issue
3:40 , 🙂👍
Can make tutorial How Leg arm Jump link robot spot
What app are you using to draw on the iPad?
Microsoft OneNote
Can you suggest any alternative of odrive s1? Thanks
I’ve only ever used the ODrive S1 but the moteus controller by mjbotics is another one
Why limit switches and not hal effect sensors? "Boot up" with all four legs trying to find their limits is going to be a nightmare.
I have limit switches so it was a convenient solution. In my redesign, I'm going to get rid of them entirely.
what is the name of the device? I would love to have one! 1:20
What cad software do you use ?
Inventor
why all dogs have no foot ? Like its too complicated?
what whiteboard app are you using?
Microsoft OneNote
Zambia is watching
Your dog looks like a cat. Anyway, I think you are really good at what you do. I am working on my own project, but not advertising it openly as it is a money making venture. Interested?
Drilling thru a carbon fiber makes it significantly weaker
Throw some silicone on it and sell it in the adult section. You'll be a millionaire