Page 1 of 1

Pi Biped Robot walking

Posted: Mon Jun 17, 2013 10:00 am
by mikerr
Not another quadcoptor, a proper biped robot!

ImageImage
I had this previously running - walking! - in arduino, but the pi makes more things cheaply possible (like vision, wifi etc)

He's currently still learning to walk under Pi control .

The legs have 6 servos being controlled by servoblaster.

AFAIK servoblaster can only do a maximum of 8 servos, so when arms and head are added I might have to offload servo control to an arduino.

Re: Pi Biped Robot

Posted: Mon Jun 17, 2013 11:30 am
by Ravenous
So many wires, so little time!

Six servos - can you spell out what they do? I can see the ankle sideways tilt, and maybe a knee/ankle above that. I can't see if the hip has something to twist the leg, or to swing it fore/aft.

The batteries on the head is a good idea - probably helps reduce the sway frequency (if that's the right word).

Re: Pi Biped Robot

Posted: Mon Jun 17, 2013 12:10 pm
by mikerr
Ankle is tilt left/right

Knee is forward/backward

Hip is forward/backward

Re: Pi Biped Robot

Posted: Mon Jun 17, 2013 12:27 pm
by simplesi
:)

What's the basic walk sequence?

Simon

Re: Pi Biped Robot

Posted: Fri Jul 26, 2013 11:56 am
by mikerr
He just took his first steps without falling over:

Image

http://www.youtube.com/watch?v=lgWbgvLjzlY

Re: Pi Biped Robot

Posted: Fri Jul 26, 2013 12:21 pm
by Ravenous
Awww, that looks so cute :mrgreen:

That reminds me, almost time for my next AA meeting . (Only kidding.)

Re: Pi Biped Robot

Posted: Fri Jul 26, 2013 12:39 pm
by mikerr
Hehe, he's already broken part of the top from a drunken fall...

Need to use the knee joints more - then he can walk with less lean, or longer strides.

Re: Pi Biped Robot

Posted: Fri Jul 26, 2013 12:47 pm
by Ravenous
Yeah a bit of knee lift will help, but might also require simultaneous balance from the other leg... Not dared trying any of this myself but planning and programming robot gaits looks very complicated to me...

Still, at least even now he walks better than I dance.

Re: Pi Biped Robot

Posted: Fri Aug 02, 2013 2:48 pm
by mikerr
My nephew Jake (age 8) decided the robot needed dressing and also added cardboard arms and head

Here's the results of his handiwork:

Image
https://www.youtube.com/watch?v=5OQgIfOEktk

As you can see pi-bed also now goes left/right by varying the individual leg's stride length

Re: Pi Biped Robot

Posted: Tue Aug 06, 2013 7:52 am
by mikerr
Kicking a ball:

Image
https://www.youtube.com/watch?v=noObFbk ... ata_player



This runs the knee/hip servos at full speed, instead of slow smoothly interpolated sweeps like used in walking/ leaning

E.g.

Code: Select all

Servo.hip = 90
Servo.hip= 140 
vs

Code: Select all

For sweep in range (90, 140):
          Servo.hip = sweep
          time.sleep (0.1)
(Not actual code)

Next step is to give it some autonomous behaviour (HC-SR04 ultrasonic sensor and/or camera :) )

Re: Pi Biped Robot walking

Posted: Sat Sep 28, 2013 11:13 pm
by raygeeknyc
This looks great! :D kudos!

I was thinking about how to best spend 2 more servos. I think that an arm with one DOF - up-and-down and a gripper would yield a good ROI. In theory, you can position the bot side to side already and you could mount a small camera on the arm. The only problem remains one of balancing when you actually pick up anything substantial, can your robot "lean back" and still walk?

Re: Pi Biped Robot walking

Posted: Wed Oct 02, 2013 4:21 pm
by mikerr
Servoblaster is no longer limited to 8 servos - it's just been upgraded to support up to 21 servos now (17 on a Rev1 Pi)
http://www.raspberrypi.org/phpBB3/viewt ... 77#p420177

So using a couple more servos on arms / head /torso isn't a problem - though the weight (distribution) might be.

I've moved the weighty batteries down directly onto the hip now, so there's more torso movement possible without falling over:
Image

and he can now sit down / lie down after a long day ;)

Image
http://www.youtube.com/watch?v=PEIbgrYKP0I

Re: Pi Biped Robot walking

Posted: Tue Jul 29, 2014 12:44 am
by Inventor_Tommy
Hi

I am keen to get started on a similar project. Do you have an instructables or have your code available on github or another opensource location? It would be really great if your code was shared :-) It would make robotics 101 available for the novice and robotics learner (myself :-)).

Regards
Inventor_Tommy

Re: Pi Biped Robot walking

Posted: Tue Jul 29, 2014 7:40 am
by mikerr
Yes all my code is shared on github

http://github.com/mikerr/biped

Re: Pi Biped Robot walking

Posted: Tue Jul 29, 2014 8:12 am
by Inventor_Tommy
Thank you :-)

Re: Pi Biped Robot walking

Posted: Wed Jan 07, 2015 4:30 am
by LinuxCircle
What batteries did you use to power the 6 servos? How many Amps are required in total? Is 3A sufficient for 6 servos?

Wiring scheme would be appriciated

Re: Pi Biped Robot walking

Posted: Sat Apr 04, 2015 2:30 pm
by [avi]
I was searching for something and landed up on this 2 year old thread.

So...you got any noob level instructions?

Re: Pi Biped Robot walking

Posted: Thu May 14, 2015 4:05 am
by LinuxCircle
[avi] wrote:I was searching for something and landed up on this 2 year old thread.

So...you got any noob level instructions?
We built a biped robot and posted Noob Level instruction here: http://www.linuxcircle.com/2015/04/06/l ... -pi-robot/

Let us know or comment on the page if you need further assistance