So we made a a couple of changes in the FW to handle multi-turn position control. The modified FW is based on 3.33, Which was working quite nice for us. we do no longer compute shorted angles , we use full revolutions. The encoder position still remains degrees. For example one can control 0-2160degress for […]
I’m building a bipedal robot (named Larry) inspired by Agility Robotics’ Cassie. It uses 10 OpenTorque actuators. These actuators are backdrivable and able to absorb kinetic energy during the walk cycle. As a result of this, there’s no need for the complex series-elastic linkages present in Cassie. Instead. Carbon fiber tubes are used for the […]
So recently I got the opportunity to try the Odrive control for robotics. The ODrive is an open source dual channel motor controller created by Oskar Weigl. It comes packed with a lot of different features and can handle up to 100A per channel. Some of the features includes: Goto (position control with trajectory planning) […]
Quick example of localization with only a 360 degree LiDAR. The final robot will use RTK+IMU+ODOM, running through a extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor, visual odometry and GPS position. The outcome from this will be feed to the AMCL package […]
Tonight I 3D Printed mounting brackets for the front wheels. I have acquired some cheap and simple testing wheels which will be used before I spend time and effort designing my own with proper bearings. My final wheels will also be more ball-like, so they want stuck as easy in terrain. Before doing the design I also […]
The appearance grows part by part. The Wheels made a huge difference on the size and the contours of the body. Cant wait to print the rest of the body. But First we need to confirm that all parts is working and fitting together nicely.