My Bipedal robot

robonetics

Hello all,
··········· Here is my bipedal robot. named" robot warrior " , this is my 2nd bipedal robot, the first one stand 3' tall & had over 34 servos.·this one·stands at 24" tall 9"wide, has 24 high torque servos 1- bs2e board 1-ssc-32 board , 1-irpd SENSOR, 1- 7.2v battery pack, 1- ps2 port, gws gyros , and a pc video cam for it's head.
·········· i've cast my own plastic peices out of smooth-on smoothcast 300 plastic resin. still casting legs & arms covers also casting the waist out of smooth on dragon skin resin. the hands are also cast in plastic resin.
·········· IT'S ALIVE!!!! but only when i download movements to the bs2e board, trying to work out the ps2 controller to work with it.
·········· i have it selling now on ebay under "humanoid robot", but if it doesn't sell , i will be upgrading it with more servos & sensors & wireless cams.

if you want to email me with any questions you can email me at robonetics@hvc.rr.com

thank you for looking
charlie aka robonetics
··········

Manuel

NICE, what can your robot do?

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Best Regards

Manuel C. Reinhard

robonetics

right now it can move it's head left & right, move it's arms up,down,left & right turn it's elbow left & right & bend it's elbow up & down. also move it's wrist up & down.
·the robot can also bend at the waist up & down & turn it's chest left & right. it also can move it's legs up down left & right, bend it's knee up & down & move it's ankel up down left & right.
·with the video cam you can see what the robot is facing or where it's going.
i'm still qorking on the project, mostly the programming of the robot.
·also trying to get it so i can control it via ps2 controller.

also working on it to keep it's balance with out any help or support.
i've designed it for combat like the ones that you see on robocup. the robot also has a sword that it can hold in its hand. the hands do not move at this time they are pre-posed. that i've made out of plastic resin.
looking for some help with the programming part, but so far, no one has helped me with programming.

want to learn how to make a data base for the robot so it can think on it's own, also trying to find a better way to program the bs2e board with out using the SEROUT command for the servos being it use to much mem on the bs2e board.

below is a sample of programming i've been using. but get the error"out of mem",·want to fine or have someone else show me a better way to program the board using the servos.

any help,input or idea's would be great.

thankz
charlie

'*************************************
'*····· program type:STAMP BS2E···················· *
'*······· version:PBASIC 2.5························ ··· *
'*************************************
'* programmer: Charles W. Scilabro Jr·············· *
'*········· Date:8/27/05·································· *
'*·· Email: robonetics@hvc.rr.com····················*
'*************************************
'*········· File:·complete movements················· *
'*************************************

' {$STAMP BS2e}
' {$PBASIC 2.5}
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #10 p1300 #26 p900 #11 p1900 #30 p2500 #14 p2500 #29 p1600 #13 p1200 #28 p1500 #12 p2000 #21 p1200 t1000",13] 'standing pose
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p500 #20 p2300 #5 p1600 #19 p1000 #4 p2000 #18 p1500 #7 p100 #17 p1700 #3 p1500 #16 p1300 t1000",13]··············· 'arm pose
PAUSE 1000
start:
GOSUB leftarm
movehead:
SEROUT 15,6,[noparse][[/noparse]"#21 p1300 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#23 p1700 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p2000 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1700 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1500 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1300 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1000 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p500 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1350 t1000",13]
PAUSE 3000
GOSUB bendwaist
leftarm:
SEROUT 15,6,[noparse][[/noparse]"#6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p2000 #5 p2000 #4 p1000 #7 p1400 #3 p1700 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p1500 #5 p1500 #4 p1500 #7 p1000 #3 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p500 #5 p500 #4 p2000 #7 p500 #3 p500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p2000 #5 p2000 #4 p1000 #7 p1500 #3 p1700 t1000",13]
PAUSE 1200
GOSUB rightarm
wavelefthand:
SEROUT 15,6,[noparse][[/noparse]"#6 p1800 #4 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p100 #5 p1600 #4 p2000 #7 p100 #3 p1500 t1000",13]··············· 'left arm pose
PAUSE 1000
GOSUB waverighthand
rightarm:
SEROUT 15,6,[noparse][[/noparse]"#20 p2300 #19 p1000 #18 p1500 #17 p1700 #16 p1300 t1000",13]··············· 'right arm pose
PAUSE 1000
GOSUB wavelefthand
waverighthand:
SEROUT 15,6,[noparse][[/noparse]"#20 p2300 #18 p1500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p1500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#20 p2100 #19 p1000 #18 p1500 #17 p1700 #16 p1000 t1000",13]··············· 'right arm pose
PAUSE 1000
GOSUB movehead
bendwaist:
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 t1000",13] ' HOME point
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p1000 t1000",13] 'bends forward
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p2000 t1000",13] ' bends backwards
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 t1000",13] 'home point
PAUSE 1000
GOSUB turnchest
turnchest:
SEROUT 15,6,[noparse][[/noparse]"#22 p1350 t1000",13] ' home point
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1000 t1000",13] ' turns right
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1350 t1000",13]· 'home point
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p2000 t1000",13]·· 'turns left
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1350· t1000",13]· ' home point
PAUSE 3000
GOSUB left_leg
left_leg:
SEROUT 15,6,[noparse][[/noparse]"#10 p1300 #11 P2000 #14 P2500 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P1000 #14 P1000 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P2000 #11 P1000 #14 P1000 #13 P1000 #12 P1500 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P1000 #14 P1000 #13 P1800 #12 P1000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P2000 #14 P2500 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
GOSUB right_leg

right_leg:
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 T1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P1500 #30 P2000 #29 P1500 #28 P1600 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p1100 #26 P1500 #30 P1500 #29 P1000 #28 P1000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P1500 #30 P1500 #29 P2000 #28 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 T1000",13]
PAUSE 3000
GOSUB home_point
home_point:
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 #22 p1350 #23 p1300 #20 p2300 #19 p1000 #18 p1500 #17 p1700 #16 p1300 #6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 #6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 #27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 t1000",13]
END

SN96

You did a fantastic job tucking the wires neatly away! Very nice Biped!

robonetics

thank you, it took alot of work. still working on it. mostly programming end.

do you have a robot? if so i would like to see it."bipedal or other".

thank you again.

charlie

SN96

I have plans to make a biped but I need to replace a broken dishwasher first. When the time comes, I will build either a reverse knee biped, like the one in Robocop, or a clasic humanoid type of robot. I will post pics and videos when it is complete.

In the mean time, I might try to create a quad walker with the 5 servos I currently have and "whip" something together.



Mike