AVR Dynamixel AX-12 Controller Running IK and Gait Engine
I was able to get my IK functions and gait engine running on my AVR micro. Below is a short video of the front left leg running an 8 step ripple gait in the forward direction.
View ArticleAX-12 Monitor
AX-12 Monitor is a simple terminal program I am working on to interact with Dynamixel AX-12 Robot Actuator bus. This program is still very much a work in progress but I plan on making the source along...
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Biped Robot Leg Prototyping
Heavily inspired by the Darwin OP robot by from Robotis and RoMeLa at Virginia Tech I have started A biped robot project. So far I have constructed a prototype leg and have begun developing the...
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AX12 Darwin Update
After quite a few weeks I am finally getting back into this project. Over the week I have finished most of the mechanical parts except the feet and a few arm pieces. This weekend I will be working on...
View ArticleBeagleBone Dynamixel AX12 Interface – Part 2
I have made some progress interfacing the Dynamixel AX-12 servo with the Beaglebone. In this video I have breadboarded a sparkfun logic level converter to convert the Beaglebone’s 3.3v UART logic to...
View ArticleBeagleBone Dynamixel AX12 Interface – Part 2.5
More progress on my Dynamixel to BeagleBone interface experimentation… I now have enough of the the Dynamixel communication protocol working to both read and write to any address in the servos control...
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Dynamixel UART To Half-Duplex Circuit
To control the Dynamixel actuators, the main controller needs to convert its UART signals to the half duplex type. I use the circuit in the schematic as shown below. Hope that helps Gertlex! :)
View ArticleOKQ1: 4DOF MX Quad Mech
After my hiatus from competing in 2012 I have started a new mech to dominate in 2013! OKQ1 (Off-Kilter Quad One) will be an MX servo based quad with four degree of freedom legs. Between the end of MW...
View ArticleOKQ1: Walking
After spending most of my vacation enjoying myself I managed to get OKQ1 walking today. This is by no means final or optimized. It was really just a quick hack to try walking for the first time. You...
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