CalvinBot

From Hive13 Wiki

Hive13 Project
CalvinBot
Status:	Active
Start Date:	1/9/2013
End Date:	{{{EndDate}}}

Mike's project to build a quad bot.

Calvinbot is my project to build a quadroped robot. Eventually the goal is to compete in the Robogames Mech Warfare competition.

Calvinbot's design is based on Dynamixel digital servos, with the Arbotix (Arduino-derivative) microcontroller as the "brain." It will communicate via Xbee radio to a laptop using the BioloidController and PyPose code: [1]

I'm fairly new to programming and robotics--so this is an opportunity to learn as I go!

Update 2/1/13: Assembled all 4 of the robot legs with Tiffany's help. Have done some desigining of body plates in Inventor and will be laser cutting soon! Here's the current design:

Update 3/4/13: Calvinbot is assembled and code loaded! Here is a video of some first steps: http://www.youtube.com/watch?v=MoLM-EFDYfo&feature=youtu.be Currently the robot is recieving commands from the laptop via "test drive" mode in the Pypose software. Still lots of work to do to improve the gait and put together some of my own control code. Also, thinking of shortening it to Qalvin (Questionable Acronym aLlowing Virtually Indiscriminate Naming...)

Parts already obtained:

Dynamixel AX-12A digital servos from Robotis

Various brackets and connectors from Robotis

Lithium battery

Arbotix microcontroller

Xbees

Battery-powered Airsoft gun

Wireless IP camera (D-link)

Voltage regulator for camera

Laser-cut ABS leg pieces

Laser-cut ABS central frame pieces

Wish list/build list:

Gun and camera mount system

Mech warfare pressure-sensitive plates

Solid-state relay circuit for Airsoft

Progress Made

Installed necessary programs and libraries: Arduino environment, BioloidController, Pypose, Pymech, Python, NUKE, etc..

Successful communication established: laptop-->XBEE-->XBEE-->Arbotix-->turn a servo

Leg design completed in Inventor

4legs assembled

Body plate design completed in inventor (2/1/13)

Body laser cut, assembled, and robot is up and walking with Pypose/Nuke (3/4/13)

Partial To-do list

Design and laser-cut gun and camera mount

Fine-tune reverse-kinematics "library"

Adapt PyMech code to command Calvinbot from laptop

Learn much more Python/Pygame so I can write my own control program!