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IRON WOLF quadruped.

Forum for quads, hexapods, etc

IRON WOLF quadruped.

Postby Innerbreed » Tue Mar 23, 2010 6:30 pm

IRON WOLF
Image

Project: IRON WOLF
Software version: v1.0
Description: Iron Wolf Quadruped project

Here i have converted Xan's "Phoenix_V1.3" hexapod code for upright quadruped locomotion, using
Zenta's "Felix_V2.0" as a reference, and pre-convertion of Xans V2.0.

Developer: Jonny Poole (aka Innerbreed) Wolf_V1.0
Programmer: Jeroen Janssen (aka Xan) Phoenix_V1.3
Technical Support: Kåre (aka Zenta) Felix_V2.0

Hardware setup: ABB2 with ATOM Pro28, SSC32 V2, PS2 remote.
16x Hs645mg servos.
4x Hs485HB servos.

Design concept
Image
Image

Image
Image
Image
Image

a small video Demonstrating some of the gaits.
obviously many of these gait will not work on this robot but they are
examples of quadruped gaits.
some included:
    Wave,
    Ripple,
    Trot,
    Pace,
    Gallop.

im still working on getting the body to shift the COG before any of these gaits can really be tested.
http://www.youtube.com/watch?v=YG7FPeDz8Hg
Innerbreed
 
Posts: 4
Joined: Sun Apr 26, 2009 5:13 pm

Re: IRON WOLF quadruped.

Postby Orac » Wed Mar 24, 2010 10:16 am

Very nice, can't wait to see it all trimmed up and stable exploring its environment.

Any plans to incorporate an IMU for dynamic balancing?
Orac
Site Admin
 
Posts: 119
Joined: Sat Mar 28, 2009 8:03 pm

Re: IRON WOLF quadruped.

Postby Innerbreed » Mon May 31, 2010 2:33 pm

some more images:
Image
Image
Image


after a few changes:
ImageImageImage

Another video:
http://www.youtube.com/watch?v=lbs80kqb3Vg&feature=fvsr
Innerbreed
 
Posts: 4
Joined: Sun Apr 26, 2009 5:13 pm

Re: IRON WOLF quadruped.

Postby Orac » Tue Jun 01, 2010 10:28 pm

Wow, the movements look very smooth, you have put a lot of effort in there.

Have you tried the moves on carpet? Do the turns work well?

Thanks
Orac
Site Admin
 
Posts: 119
Joined: Sat Mar 28, 2009 8:03 pm

Re: IRON WOLF quadruped.

Postby mentar » Sun Jun 06, 2010 10:21 pm

very impressive indeed, well done!
Looking forward for further updates :)
Was it built to play around with the gaits, or do you have a more complete system in mind?
Eugene (a.k.a Mentar )
M29 London. Robotics hobbyist, very interested in functional robots/drones/underwater robotics
mentar
 
Posts: 27
Joined: Sun Feb 28, 2010 2:51 am
Location: London

Re: IRON WOLF quadruped.

Postby erum » Mon Nov 18, 2013 6:08 am

His creation, Heximotional, was inspired by Mat Denton's robots and uses the sensors in a Sony controller to control the beast via netbook style pc and bluetooth link to a Lynxmotion SSC32.
erum
 
Posts: 1
Joined: Mon Nov 18, 2013 6:04 am


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