Awesome. There are of course tons of resources online. I found the guys at forums.trossenrobotics.com very helpful. In addition to the Trossen products there is a lot of activity with other hardware. Computer vision will require some umph so you might also want to check out some Raspberry Pi or other SBC resources for integrating linux with your hardware. Good luck!
Your work is incredible !!! I made hexapod like yours since I have seen your website.
I use an Arduino Mega with your program and everything works fine. Except that I have not yet integrated my PS2 controller but it will be soon. For now I play on the code to test the robot’s movements.
I can not see the video B.E.T.H. because it marks “Private Video”.
Would it be possible to have some informations by email for some details please ?
Hey Jeremy, Thanks! I’m glad its working. Thanks for the heads up, I’ll make sure the videos are up and public. Sure, feel free to email if you need more info. I just added a link in the About section.
First of all, awesome job on your hexapod ! the software is very nice and the hexapod gaits look good !
I just finish assembling my hexapod (http://anim4bot.com/2015/11/04/animabot-rev2-final-assembly/)
So now I’m in the software phase 🙂 and I found your great IK tutorial 🙂
After reading you code, I have one question regarding the Body Dimensions :
const int X_COXA = 120; // MM between front and back legs /2
const int Y_COXA_FB = 60; // MM between front/back legs /2
const int Y_COXA_M = 100; // MM between two middle legs /2
const float COXA_ANGLE = M_PI_4; //45deg; // Angle of coxa from straight forward (deg)
I know it’s in mm, but from where to where ? distance between each rotation axis of the coxa servo ? or the distance between the center on the body and the rotation axis of the coxa servo ?
Dan,
I met you last year at NHMS at the May COM event. I will be there this Saturday, again in my black E36 M3/4 and parked in garage bay 6 — I saw that you are in 8.
Hi Dan, I see that you are running a RaceCapture Pro on your race car? Well, I’m running one as well on my endurance build car and I’m having some trouble with the oil tmep and pressure reading output over CAN bus. Wondering if you can help me? I used to run with COM back in the 2008 – 2010 and may have met you possibly?
Anyways, please if you can help me, I would greatly appreciate it.
Really love your B.E.T.H. project! I am making my own hexapod from scratch with the electronics etc. I am able to translate the body and working on rotation now. However, I really want to make it walk and I am trying to understand the gait code. I would like some information on the relation between the amplitudes and strides. How does the hexapod achieve the motion of rotation in this case ? Can you elaborate on those please?
I trying to run an STM32 in my car similar to your E36 digital dashboard setup. I am having a slight issue reading RPM signal at idle, mine seems to sporaticly get all sorts of frequencies up and down. However, this changes just by adding a slight throttle and the signal completely cleans it self. Would you have any idea wha tthis could be? I am only using a voltage divider at the moment to step down to 3.3v, could it be the signal is dirty at idle?
Are you able to monitor the signal with an o-scope? Where are you getting the signal from? If its from the ECU, like in my case, it should be pretty clean. How does your signal vary with RPM? pulse train frequency? There’s a lot that could be going wrong unfortunately. The best way to dig in is to look at it.
Hi,
I’m interested in creating a hexpod for computer vision experiments but i have no experience with robots.
Do you have any resources to get started?
Regards,
Daniel
Awesome. There are of course tons of resources online. I found the guys at forums.trossenrobotics.com very helpful. In addition to the Trossen products there is a lot of activity with other hardware. Computer vision will require some umph so you might also want to check out some Raspberry Pi or other SBC resources for integrating linux with your hardware. Good luck!
Hi,
Your work is incredible !!! I made hexapod like yours since I have seen your website.
I use an Arduino Mega with your program and everything works fine. Except that I have not yet integrated my PS2 controller but it will be soon. For now I play on the code to test the robot’s movements.
I can not see the video B.E.T.H. because it marks “Private Video”.
Would it be possible to have some informations by email for some details please ?
Kind regards,
Jérémy
Hey Jeremy, Thanks! I’m glad its working. Thanks for the heads up, I’ll make sure the videos are up and public. Sure, feel free to email if you need more info. I just added a link in the About section.
Hi Dan !
First of all, awesome job on your hexapod ! the software is very nice and the hexapod gaits look good !
I just finish assembling my hexapod (http://anim4bot.com/2015/11/04/animabot-rev2-final-assembly/)
So now I’m in the software phase 🙂 and I found your great IK tutorial 🙂
After reading you code, I have one question regarding the Body Dimensions :
const int X_COXA = 120; // MM between front and back legs /2
const int Y_COXA_FB = 60; // MM between front/back legs /2
const int Y_COXA_M = 100; // MM between two middle legs /2
const float COXA_ANGLE = M_PI_4; //45deg; // Angle of coxa from straight forward (deg)
I know it’s in mm, but from where to where ? distance between each rotation axis of the coxa servo ? or the distance between the center on the body and the rotation axis of the coxa servo ?
Do you have any future plans for B.E.T.H ?
Dan,
I met you last year at NHMS at the May COM event. I will be there this Saturday, again in my black E36 M3/4 and parked in garage bay 6 — I saw that you are in 8.
Please respond via email.
Bjorn
Hi Dan, I see that you are running a RaceCapture Pro on your race car? Well, I’m running one as well on my endurance build car and I’m having some trouble with the oil tmep and pressure reading output over CAN bus. Wondering if you can help me? I used to run with COM back in the 2008 – 2010 and may have met you possibly?
Anyways, please if you can help me, I would greatly appreciate it.
Thanks,
David
Sorry for the delay! If you’re still stuck send me and email and I’ll share my RaceCapture config files.
Hello Dan,
Really love your B.E.T.H. project! I am making my own hexapod from scratch with the electronics etc. I am able to translate the body and working on rotation now. However, I really want to make it walk and I am trying to understand the gait code. I would like some information on the relation between the amplitudes and strides. How does the hexapod achieve the motion of rotation in this case ? Can you elaborate on those please?
Here is what I have been able to achieve until now.
https://youtu.be/Xw88Y6s7JJI
As you can see it can translate rotate etc. but I would like to make it move and I have just been a stuck in understanding this.
Appreciate the help!!
Hi Dan,
I trying to run an STM32 in my car similar to your E36 digital dashboard setup. I am having a slight issue reading RPM signal at idle, mine seems to sporaticly get all sorts of frequencies up and down. However, this changes just by adding a slight throttle and the signal completely cleans it self. Would you have any idea wha tthis could be? I am only using a voltage divider at the moment to step down to 3.3v, could it be the signal is dirty at idle?
Cheers,
Chris
Are you able to monitor the signal with an o-scope? Where are you getting the signal from? If its from the ECU, like in my case, it should be pretty clean. How does your signal vary with RPM? pulse train frequency? There’s a lot that could be going wrong unfortunately. The best way to dig in is to look at it.