Tell us about yourself!
Yes, If you are talking about the board I supposed then it is a some kind of Arduino board to controll simple projects like robot arms without computer.
Try to use the lx_setup.py running under Python3:python3 lx_setup.pyThere are a lot of error can be easily made, so the better way to take the existing code and modify it step by step until you get what you initially supposed :)
Thanks! The V3 is available here but for those only who don't afraid of complexity :)https://cults3d.com/en/3d-model/various/robotdog-v...
My controller (V3) doesn't support PS4 or other external joysticks, except this one:https://github.com/RoboLabHub/RemoteControlhttps://github.com/RoboLabHub/RoboDog_v3There are also exist the virtual joystick on Android:
The smart servos has different type of connection in compare with ordinal servos. They all connected parallel to the same bus (for LX-16a bus consist of 3 wires, some other servos uses 4 wires):So, you can connect all servos to one plug or another, it doesn't matter, since it is the same (common) bus.The:robodog_v2 robodog_v2_hwis the command to run the main controller for V2. It runs and executes the gcode specified inside the program.
Yes, the problem in board itself since it uses some kind of internal protocol for communication with computer. At least, I don't know how to work with that board.You need this kind of board (BusLinker v2.x):https://www.amazon.ae/LewanSoul-BusLinker-Debug-Bo...
Yes, it might be. But the Ubuntu image I published has the pre-installed Ubuntu 20.04. And it works on my Pi4 with 4GB RAM.Do you see the /dev/ttyUSB0 port on Pi when you connects the BusLinker v2.x board with connected LX-16A and power (8.4v)?Try to run the following python script on your Pi (but first replace the COM3 in SERIAL_PORT with '/dev/ttyUSB0' in lxsetup.py):https://www.instructables.com/How-to-Configure-and...Will it work?And this also may help:https://askubuntu.com/questions/112568/how-do-i-al...
I created the image, but it needs PI4 with 4GB memory and 32GB SD card:https://github.com/RoboLabHub/Tips/tree/master/Rob...NB! The others PI4 configurations may not work.
Yes, it is possible, but I can't just copy my image. I need to create the fresh one to make it public. So, this will take time.
Try to replace /dev/ttyUSB0 with /dev/usb/hiddev3 in:https://github.com/RoboLabHub/RoboDog_v2/blob/master/sources/Services/RobotHW.cpp#L77
Try this comman that should shows available usb ports:ls /dev/ttyU*Try it before plugin servo controller and after.One more issue could be with servo controller board thar you are using. According to photo it is microntroller board that mat be needs to be programmed. I used other one, without microcontroller.
You may need to source your compiled package first. Try to run the following commands:cd ~/catkin_wscatkin_makesource devel/setup.bashrosrun robodog_v2 robodog_v2_hw
Thank you! Yes, some parts in V2 needs improvements to make them stronger (however even in this configuration V2 can care about 1kg payload) but I don't have time for that. Maybe somebody in community will do this while I am busy with V3 and software :)
Great! I see that you are using more expensive servo controller board that contains the microcontroller inside. I used the other one (the simple) in my robot, since this one may require an additional programming.Looking forward to see how this servo controller board will work. Please share your outcomes.
Yes, my both robots (V2 and V3) are ready and running :) But my mind currently busy with other problem - how to make them moving more naturally. So, I am currently deep in software part of robot and moving algorithms.
My congratulations! Have you tried it to walk without stand?I posted the V3 controller to GitHub that supports RC for both versions (V2 and V3):https://github.com/RoboLabHub/RoboDog_v3The RC itself with schema will be updated also soon:https://www.thingiverse.com/thing:4586188
About ROS, the solution suggested by rossobimbo is very good. I also used that ROS image for some my projects, they are good if you want to do it faster.One servo requires about 1A. In simple way, you need to put 8.4V 10A from step down converter (from 11V Lipo) to servo board and then connect servos to board.All servos are connected in parallel (each servo has 2 connectors with 3pins, but they are shortcuted: 3pin <-> 3pin).You can connect all servos to board using one wire or divide servos on two groups. But in both cases all servos will be connected parallel in result.The LX-16A wiring is very similar to this picture (but the pins itself could be in other order):https://www.researchgate.net/figure/Dynamixel-AX12-connection-The-ATmega162-microcontroller-has-RISC-Reduced-instructio…
About ROS, the solution suggested by rossobimbo is very good. I also used that ROS image for some my projects, they are good if you want to do it faster.One servo requires about 1A. In simple way, you need to put 8.4V 10A from step down converter (from 11V Lipo) to servo board and then connect servos to board.All servos are connected in parallel (each servo has 2 connectors with 3pins, but they are shortcuted: 3pin <-> 3pin).You can connect all servos to board using one wire or divide servos on two groups. But in both cases all servos will be connected parallel in result.The LX-16A wiring is very similar to this picture (but the pins itself could be in other order):https://www.researchgate.net/figure/Dynamixel-AX12-connection-The-ATmega162-microcontroller-has-RISC-Reduced-instruction_fig4_328937242Please check these video also to get an idea how to wire:https://www.youtube.com/watch?v=3n6OCIljJsAhttps://www.youtube.com/watch?v=YVCigXRCOjUI run PI from the same LiPo but using different step down converter (11V -> 5V, 3A).
Wow! Nice instructions!At which point you currently stopped?For PI4 I used the ubuntu from here:https://ubuntu.com/download/raspberry-piAnd ROS melodic:http://wiki.ros.org/melodic/Installation/UbuntuIf you already installed ROS then all you need is to steps 2-6 from:https://github.com/RoboLabHub/RoboDog_v2/tree/mast...
DIY Spot Like Quadruped Robot (building Log V2)
My original V2 uses 4 buck down 3A converters (1 per 3 leg motors), but during testing I found that it is not enough to handle fast movements. And these converters works bad under continuous load. For V3 I am using advanced 10A converter that works much much better than 4 these ones.
Nice! Thanks for sharing photos!
Thanks! I am using this one https://ninjatek.com/ninjaflex/This is a flexible filament to decrease the foot slippery.
My congratulation! the CNC is a complex project and required a good skills and patience. I know since I also built one :)The electronics for this robots is quit simple, you need only Raspberry PI 3 or 4, the USB controller board for LX16a (check this link https://www.instructables.com/How-to-Configure-an... and power supply for 8.4v (10Amp or higher). The USB controller board is connecting to Raspberry PI by USB cable.Power the Raspberry by 5v using separate step down converter (https://raspberrypi.stackexchange.com/questions/73126/can-i-power-a-pi-through-a-5v-pin).As battery I am using LiPo 12V battery.
I updated the instruction with how to build the body. The body was stay as is from this version of robot:https://www.thingiverse.com/thing:4445119The camera is Raspberry PI camera like this one:https://www.hbvcamera.com/5mp-noir-raspberry-pi-ca...
Looks like it is my fault. I checked the design, the bearing should be 6705 (25x32x4mm).Sorry. Thank you for finding it!
I added picture to instructions with bearings locations.
The 6706ZZ is for:https://github.com/RoboLabHub/RoboDog_v2/blob/mast...It is required a little force to put it on place. And it is a little bit tricky and a big chance to break the frame if you will insert the bearing with angle :)I first put bearings into frame_leg_down.stl (using desk, hand and force :)) and then insert gear_leg_base.stl into bearing.
Thanks! I think to skip the competition for this time :)
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