this is an amazing example of some exemplary engineering skill. My father is a mechanical drafting engineer so I can appreciate just how amazing this project really is and the possible applications are staggering.
Great work sr! I think that works like yours are important for future advances in space exploration and also for improving life here on earth. I am a Mechanical engineering student also, but I am still at the bottom of my undergraduate career, so far I've only developed robots with wheels that can go forwd/backwd left/right and pic up objects with simple gripper devices. Thanks for the ideas, maybe I'll learn about how to put something togethr like that!
first of all i must tell you simply "CONGRATULATION", cuz that you have been made it's fantastic, and to do that stuff it is necesary a lot of knowledge and pascience, I'm studing an ingenery in control and automation and a should to say that you inspire me for some day to make something like that, newly CONGRATULATIONS!!!
Very cool. This is what I want to do when I'm finishing my degree. Maybe. suggestions: increase the length of its steps-- the legs don't seem to be even close to interfering with each other. Increase the length of the legs so that speed increases
Yes, that's right. Every of my robot's gaits has static equilibrium - my robot is for transportation tasks, so that was a must. But dual-pod gait would have quasi-static equilibirum. :)
nice, I've thought of another gait, similar to a millipede, where it lifts one pair of legs, moves them forwards, lifts the pair behind, moves them forwards, so on, then starts from the front again, and that could be done so that one pair of legs was starting to move just a fraction of second before the previous pair were landing. In my head it seems like that could allow the robot to move quite fast
Looks cool, I'm studying automation technology as well :) All you need to do now is to give it eyes, powersource, more dexterity, mind of its own, couple guns, make it 2000 times bigger and here we go: your very own bloodthirsty, six-legged engine of brutal mayhem :)
Super! Raz ze filmik ladnie skompilowany, a - i to przede wszystkim - za bardzo dobra robote(a)! :-) Nie wiem co sie stalo, ale Wroclaw i Poznan staly sie chyba najlepszymi uczelniami technicznymi w Polsce. Chociaz chyba na kazdej politechnice robia takie rzeczy (przynajmniej na slaskiej). Jednakze coraz czesciej politechniki i uniwersytety z tych miast mnie zaskakuja! Ciekawe kiedy tak moj uniwersytet slaski bedzie przodowal w IT ;-) Pozdrawiam i trzymam kciuki za dalsze dziela!
it is really amazing how you can control each leg, but is it possible to add a sensing mechanism; so the robot could sense light, movement, gases, and also what is the max speed you could have with this small thing?? i really loved the work, it's a piece of art.
lol. Thanks for your opinion! It was my very first movie and I didn't have any other free software besides Windows Movie Maker. Anyway, the goal was to show the robot in a less boring way rather than to create Terminator 4 ;)
[2/6] In my robot, everything was built from scratch. I didn't use ANY dedicated elements, any servos microcontrolers. All was put together and programmed from scratch, electronic board for servo microcontroler was also done form the beginning, whole programming interface was also written from the very first char.
Really depends on if you can make the metal parts your self, and if you know EXACTLY what you are going to build at first, or if you are going to experiment with a lot of parts...
Amazing. I'm still considering your Euclidian-centric approach. That is if you were bio-mimicking more, couldn't it be self-powered and require only one or two motors and memory wire? Your kind of machine satisfies some criteria well: could be re-created on a small level with existing parts cheaply (assuming an available electricity source) and could move in very precise ways but it doesn't seem very fast. Could be a guard dog.
[part 1/6] Hi pobvic, you're flattering me by comparing me to some of the lego robots, where it's electronics, sensors etc, etc were developed by full professional team of highly experienced staff during many, many years of research and very big budgets. It's easy to just put the pieces together, that come out of the lego box.
hey man, nice robot. look, i watched your video cause i love technology and all this robots stuff. right now, i need to do some research about spider robots. this is a "project" as they call it in my high school. i need to compare something from the nature with another thing made by the human, and i tought that this spider robot could be a great example please, i just need to know some basic things about this invent =D
It was all calculated using "invert kinematics" matrix techinque. Thanks to this special callculation all I had to do is to tell the controlling software XYZ coordinates of robot's foot. Invert kinematics does the rest - it calculates what angle each joint should be rotated to reach given position. No guessing, just maths..
And I tried to explain, that of course it can be done thousands of times easier, in 270 lines of code instead of 2700 but that wasn't the purpose. I meant to do this in "proper" way as all robots are being programmed to have good base for future development :) Thanks for conversation.
[4/6] I didn't just choose it's shape and dimensions by coincidence, because I found similar ones on youtube... It has been designed from scratch with all machine's desiging rules and all solutions are results of calculations, simulations etc. If you aren't familiar with it, you won't understand how much work it needs to design only the structure.
There is only 1 type of algorithm on micro-controller which calculates XYZ coordinates for each leg (sent from PC) into signals needed for each servo to rotate to reach desired position. I used rs232 usb emulator - robot is connected to PC via usb cable but it is recognized as a serial port therefore it can be programmed using all methods and classes for rs232 port.
Hi tunik71. I love the use of inverse kinematics. May i ask though, when the desire angle for each servo was found what provided the signal to each servo? I am currently using a microprocessor to provide individual changing signals to 18 servo motors without a servo controller or any connection to a computer but, I like the way you did it.
[5/6] Most of amateurs and robotics fans just build their machines straight away, because they think that this or that dimension will be ok, just like that. And by coincidence they work in better or worse way.
so I'm new at the mechanical engineering stuff, but completely fascinated with everything that can be done. I'm only 16, but I'm planning to get my degree in mechanical engineering. Where did you get yours?
it's wobbly because of low quality servos which cannot hold still desired position :( It can carry 1kg so 100% of it's weight. All calculations are made on a PC - it calculates which servo should be moved to which position and after that whole package with positions is sent to uC via USB cable. uC algorythm calculates positions till specific signal values for servos.. And that's it!
As you know, inverse kinematics is used when you have multi-joint structure (like robotic arm or leg in this case) and you want to put end of that "arm" in specific place, giving only XYZ coordinates.. What is a different way to calculate degree of rotation of each joint to reach that given XYZ destination at once?
yep, 14 years to be exact :) It was my master thesis on my university, so it ended up as you see it. Maybe some successor students took it further, as it stayed at the university.
i wonder, how did you do the legs with the part of "how much it should move", i mean did you do it blind in the code and wrote that it should move at this speed for this miliseconds or did you do something like adding a switch that is pressed when the leg reaches its limit?
Hi BalenAzez, so please explain to me how it would be possible, without any mathematics, to create inverse kinematics's matrix? And therefore, to do any calculations using that matrix that are necessary for gait algorithms? I'm very curious... 2700 lines of code.... Probably you would be able to do it in less.... I'm a mechanics engineer, not IT guy.. All type of gait's algorithms are quite flexible.. if you want robot to go straight, with given speed, height and type of gait [...]
[...] Regarding 3D model... Please do a screenshot, print it out and do a pause on the video.. It's 100% the same, except there are no cables and electronics on the 3D model, as it's a model for structure only. Anyway, thanks for your input, cheers!
this is an amazing example of some exemplary engineering skill. My father is a mechanical drafting engineer so I can appreciate just how amazing this project really is and the possible applications are staggering.
Great work sr! I think that works like yours are important for future advances in space exploration and also for improving life here on earth. I am a Mechanical engineering student also, but I am still at the bottom of my undergraduate career, so far I've only developed robots with wheels that can go forwd/backwd left/right and pic up objects with simple gripper devices. Thanks for the ideas, maybe I'll learn about how to put something togethr like that!
This great ! Doing a 6 legged robot for my Final Year Project as well. This is a great inspiration.
Love it !!! awesome way to say goodbye !!! BEST PART! !
first of all i must tell you simply "CONGRATULATION", cuz that you have been made it's fantastic, and to do that stuff it is necesary a lot of knowledge and pascience, I'm studing an ingenery in control and automation and a should to say that you inspire me for some day to make something like that, newly CONGRATULATIONS!!!
wow amazing! nice work. you put a lot of thought into this.
wow, this is very skilled work. Nice done all. And the movie/music is also nice editted. Great DONE :)
very good job. it even waved good by.
this is so badass :D the music makes it seem like some sort of super hexapod soldier is training for badassery :D fantastic robot ;)
Awesome! Love the robot, but the thumbs up is for the music
Gosh... If someday I will be able to do such a thing like this... Then I will be happy... Gratulations!
Doc Tunik........ nice Job....
That is one great robot!
Congratulations!!!
*I Bow Before Di*
Amazing. I wish I was able to create such things or even understand the basics.
Very cool. This is what I want to do when I'm finishing my degree. Maybe.
suggestions: increase the length of its steps-- the legs don't seem to be even close to interfering with each other. Increase the length of the legs so that speed increases
Amizing man, really amazing.
greetings form Spain
awesome.... dude ive no words..
its exceptional!
Great job!
very nice and great work
Grea robot and a great video.
Yes, that's right. Every of my robot's gaits has static equilibrium - my robot is for transportation tasks, so that was a must. But dual-pod gait would have quasi-static equilibirum. :)
That's fantastic!
DUDE!! Holy crap! And I got proud of myselfwhen I "coded" my own viz for winamp! lol NASA called yet for a job offer? Keep up the good work! =)
Just I say AMAZING!!!!
nice work
Well done!
this is so beautiful
Alucinante!
nice, I've thought of another gait, similar to a millipede, where it lifts one pair of legs, moves them forwards, lifts the pair behind, moves them forwards, so on, then starts from the front again, and that could be done so that one pair of legs was starting to move just a fraction of second before the previous pair were landing. In my head it seems like that could allow the robot to move quite fast
Looks cool, I'm studying automation technology as well :)
All you need to do now is to give it eyes, powersource, more dexterity, mind of its own, couple guns, make it 2000 times bigger and here we go: your very own bloodthirsty, six-legged engine of brutal mayhem :)
Super! Raz ze filmik ladnie skompilowany, a - i to przede wszystkim - za bardzo dobra robote(a)! :-)
Nie wiem co sie stalo, ale Wroclaw i Poznan staly sie chyba najlepszymi uczelniami technicznymi w Polsce. Chociaz chyba na kazdej politechnice robia takie rzeczy (przynajmniej na slaskiej).
Jednakze coraz czesciej politechniki i uniwersytety z tych miast mnie zaskakuja!
Ciekawe kiedy tak moj uniwersytet slaski bedzie przodowal w IT ;-)
Pozdrawiam i trzymam kciuki za dalsze dziela!
I think your project is awesome! I'm currently working on a project to make a micro-hexapod robot, no bigger than 3x5"!!
great job!
you're great! Really!
nice projrect. im finishing mmy bach in mech engineering january. im taking a course in biomechanics this year :)
it is really amazing how you can control each leg, but is it possible to add a sensing mechanism; so the robot could sense light, movement, gases, and also what is the max speed you could have with this small thing??
i really loved the work, it's a piece of art.
lol. Thanks for your opinion! It was my very first movie and I didn't have any other free software besides Windows Movie Maker. Anyway, the goal was to show the robot in a less boring way rather than to create Terminator 4 ;)
[2/6]
In my robot, everything was built from scratch. I didn't use ANY dedicated elements, any servos microcontrolers. All was put together and programmed from scratch, electronic board for servo microcontroler was also done form the beginning, whole programming interface was also written from the very first char.
u'r genius ;) goodbye gesture kicks out of socks :D
you made my day. cheers! :)
Fantastic :) awesome
Really depends on if you can make the metal parts your self, and if you know EXACTLY what you are going to build at first, or if you are going to experiment with a lot of parts...
lol, you made my day! thanks!
Two masters to do this?
By the way, nice use of the small servos. Takes off weight and you don't need more power since the tibia is usually vertical
great! Keep pushing hard and I'm sure it will be much better than mine :)
omg that thing is really cool
Neet, building my own hexapod in lego right now, hoping for a future in biomechanics
@Incrue usually wheels need even surfaces. Walking robots allow movement in rough terrain.
Amazing. I'm still considering your Euclidian-centric approach. That is if you were bio-mimicking more, couldn't it be self-powered and require only one or two motors and memory wire? Your kind of machine satisfies some criteria well: could be re-created on a small level with existing parts cheaply (assuming an available electricity source) and could move in very precise ways but it doesn't seem very fast. Could be a guard dog.
very cool
[part 1/6]
Hi pobvic,
you're flattering me by comparing me to some of the lego robots, where it's electronics, sensors etc, etc were developed by full professional team of highly experienced staff during many, many years of research and very big budgets. It's easy to just put the pieces together, that come out of the lego box.
ambition,hard work, some free time, knowledge and supervisor assistance my friend :)
wow, thats amezing! can you give ma any info where to start from to build a robot? i mean from the damn begining .... from 0
THX mate! :) I'm happy you enjoyed it :)
hey man, nice robot.
look, i watched your video cause i love technology and all this robots stuff.
right now, i need to do some research about spider robots.
this is a "project" as they call it in my high school. i need to compare something from the nature with another thing made by the human, and i tought that this spider robot could be a great example
please, i just need to know some basic things about this invent =D
realy good work! are you going to sell it somewhen?
nice!!
Damn! You did all of that by yourself?!?!
Nice Macgyver reference
It was all calculated using "invert kinematics" matrix techinque. Thanks to this special callculation all I had to do is to tell the controlling software XYZ coordinates of robot's foot. Invert kinematics does the rest - it calculates what angle each joint should be rotated to reach given position. No guessing, just maths..
And I tried to explain, that of course it can be done thousands of times easier, in 270 lines of code instead of 2700 but that wasn't the purpose. I meant to do this in "proper" way as all robots are being programmed to have good base for future development :) Thanks for conversation.
THX mate!
[4/6]
I didn't just choose it's shape and dimensions by coincidence, because I found similar ones on youtube... It has been designed from scratch with all machine's desiging rules and all solutions are results of calculations, simulations etc. If you aren't familiar with it, you won't understand how much work it needs to design only the structure.
yes, of course - I've made it all by myself in my garage, except the electronic circuit. My tutor helped my with it.
BIG thx!
There is only 1 type of algorithm on micro-controller which calculates XYZ coordinates for each leg (sent from PC) into signals needed for each servo to rotate to reach desired position. I used rs232 usb emulator - robot is connected to PC via usb cable but it is recognized as a serial port therefore it can be programmed using all methods and classes for rs232 port.
It's "Blade Runner (End Title)" - music form the motion picture composed by Vangelis. :)
@blackcrunchy1212
Thx mate, you made my day!! Kudos for you! Cheers!
cool tunik71!
are you using static equilibrium, dont you?
Hi tunik71. I love the use of inverse kinematics. May i ask though, when the desire angle for each servo was found what provided the signal to each servo? I am currently using a microprocessor to provide individual changing signals to 18 servo motors without a servo controller or any connection to a computer but, I like the way you did it.
hey great robot, there is anyway that i can check your thesis?
two masters theses, geezus christ. I can make one in a week with legos and a PIC microcontroller without the need of a tether.
Dzięki!!
Thanks! I've tried to do my best :)
[5/6]
Most of amateurs and robotics fans just build their machines straight away, because they think that this or that dimension will be ok, just like that. And by coincidence they work in better or worse way.
Hi,
there are all Tower Pro servos: SG90, SG5010, MG995
so I'm new at the mechanical engineering stuff, but completely fascinated with everything that can be done. I'm only 16, but I'm planning to get my degree in mechanical engineering. Where did you get yours?
SIN PALABRAS. ME LE QUITO EL SOMBRERO.
it's wobbly because of low quality servos which cannot hold still desired position :( It can carry 1kg so 100% of it's weight. All calculations are made on a PC - it calculates which servo should be moved to which position and after that whole package with positions is sent to uC via USB cable. uC algorythm calculates positions till specific signal values for servos.. And that's it!
yeah the music was amazing but more importantly, this feat was the tip of the diamond spear
As you know, inverse kinematics is used when you have multi-joint structure (like robotic arm or leg in this case) and you want to put end of that "arm" in specific place, giving only XYZ coordinates.. What is a different way to calculate degree of rotation of each joint to reach that given XYZ destination at once?
it looks a wee bit wobbly, how much weight can it carry ?
Do you use the USB cable for control only, or you do calculations on the computer too ?
I've found my inspiration. \(*-*)/
Thank you so much.
it's been a long time since this post, how's the project going? looks very nice
yep, 14 years to be exact :) It was my master thesis on my university, so it ended up as you see it. Maybe some successor students took it further, as it stayed at the university.
@@tunik71 In which university did you study
@@nightfury5583 Wroclaw University of Technology, Poland
i wonder, how did you do the legs with the part of "how much it should move", i mean did you do it blind in the code and wrote that it should move at this speed for this miliseconds or did you do something like adding a switch that is pressed when the leg reaches its limit?
good
LOL :D I will think it over! :]
sir,
i cant understand about the 3degrees of freedom per leg.because the second and third servos are moving in same direction(upwards)...
Hi BalenAzez,
so please explain to me how it would be possible, without any mathematics, to create inverse kinematics's matrix? And therefore, to do any calculations using that matrix that are necessary for gait algorithms? I'm very curious...
2700 lines of code.... Probably you would be able to do it in less.... I'm a mechanics engineer, not IT guy.. All type of gait's algorithms are quite flexible.. if you want robot to go straight, with given speed, height and type of gait [...]
Do you have a website, or any technical documents about this project?
so what was the cost of everything roughly? and can it run wireless?
[...] Regarding 3D model... Please do a screenshot, print it out and do a pause on the video.. It's 100% the same, except there are no cables and electronics on the 3D model, as it's a model for structure only.
Anyway, thanks for your input, cheers!
Holy...
I am doing electronics, where do I fit in? is it absolutely essential to have Mechanical engineering degree?
2700, does seem like a lot, is it all written in C or ASM or what? What processor did you use?
Dzięki za miłe słowa :)
Hej, to jest pod kontrola jakiejs sieci nueronowej czy napisales "chodzacy" kod ?
how did you make it
Nice
Is the kinematic engine in the PC or embedded on the machine?
whats the problem with weels?