This is a video of my latest creation. The body was made from rigid PVC foamboard, inspired by Trossen Robotics PhantomX Hexapod. There are 18 Robotis Dynamixel AX12 actuators controlled by a Dagu ‘Redback’ Spider controller. The code is based around the Phoenix 2.0 source code originally written by Xan. I’ve hooked up a wireless PS2 controller for input.
This is my new Dynamixel based Quadruped robot. I’m using 12 * Dynamixel AX12+ actuators and a Robotis CM510 controller.
In the video you can see that I am controlling the body position of the robot using an accelerometer. The accelerometer will soon be attached to the robot and ultimately help with balance calculations.
![IMG_0841[1]](http://www.sjwaller.com/wp-content/uploads/2011/12/IMG_08411-150x150.png "IMG_0841[1]")
This is the new body shell for my quadruped robot. I’ve also added some wiring sleeves to tidy up the cabling. One of the legs is dragging a little as the screws had come slightly loose. But now the robot is pretty much built I can finally start to concentrate on getting the walking gait smoothed up. I also need to think about what type of sensors to add for 360 degree object awareness.
This video shows Q-P2 running a Creep Gait routine. I think I need some kind of rubber tip on the end of the legs as you can see him slipping on the wooden floor. I might even add some pressure sensors to the tips so I can work out feet position over rough terrain …
Just a quick video demonstrating my robot doing some basic ‘press-ups’ using an IK routine. Finally got my servos sorted – using 8xHS-645MG and 4xHS-485HB. Next I have to start working on a smooth creep gait sequence …
It’s been well over a year since my QP-1 Quadruped robot project took his first steps towards stagnation into a box … So I decided to design and build an all new leaner, meaner and ultimately cooler looking quad … meet QP-2
After waiting for what seemed like an eternity my servos finally arrived in the post!! This has enabled me to put my Quad back together and start working on the gait programming. Here is a quick video to show what I’ve done so far.
While waiting to save up for my new servos, I decided to put together this “BRAT” biped with parts from my Quad. Here is a video of his first steps …
