RatedStar Attraction X @[email protected]
894 subscribers - no pronouns :c
Welcoem to posts!!
in the future - u will be able to do some more stuff here,,,!! like pat catgirl- i mean um yeah... for now u can only see others's posts :c
Read this and if you guys find it cool, then can you please share this with your Robotists or Tech Enthusiastic friends :)
While executing motions, this quadruped keeps on calculating the co-ordinates of its Center Of Mass at each and every instant. When all the 4 legs move in co-ordination (each having 2 links), the body base frame ie, the chessis with all the electronic components and 1.38 kg battery pack moves and the 7 dof robotic arm moves (all move simultaneously), you can imagine the complexity of rigid body kinematics. Despite of this complexity, this robot calculates the COM co-ordinates after every infinitesimal time interval dt. One Arduino determines the COM of leg and chessis system, the order Arduino determines the COM of 7 dof arm. Two microcontrollers keep on communicating in order to determine the COM of entire robot.
Based on the co-ordinates of the Center of Mass, destination point (1D only, because I haven't used computer vision/lidar) where the robot has to reach and some values which were found during experiments and testing, the quadruped autonomously decides the co-ordinates of all the 4 foot steps and end effector of the 7 dof arm in order to maintain its body balance. Once it knows the final foot step and arm's end-effector co-ordinates, then the robot applies lots of generalized mathematics to determine the equations of the trajectories of each of the individual legs, end-effector of the robotic arm and approximate trajectory of the COM and then uses high level rigid body kinematics and inverse kinematics to get from current location to the desired location keeping the body balance.
All the kinematic relationship between speed, displacement and acceleration are automatically processed by quadruped itself. Relationship between linear motion and angular motions, or relation between constrained motion of dc motor and servos of the legs, everything is determined by the robot itself.
Even though everything happens as per hard coding done for the pre-defined environmental conditions, the maths, rigid body kinematics and most importantly the algorithms (even though it's hard code) are just too good and generalised.
Now, if you find this good can please share this with your tech and robot enthusiasts friends! :) I had made this channel only for this robot❤️:) This robot had been my dream since 4th semester.. :)
14 - 4
Here he is!! Meet Attraction. 4 legged quadruped with a 7 dof robotic arm.
Thank you for 700+ subscribers 💫😇😁
If things went as per the plans, I'll drop the final video of this project on 02-07-2022 !!
16 - 5
The two laptops talk!! The legs talk to the arm and the arm talks to the legs!!
The arm tells the leg about the timing when the leg has to start motion and also the position where the leg has to reach. Based on the position told by the arm, legs plan their path and makes it to the desired point by following the same trajectory the legs decided.
And vice versa, ie leg will tell the timing and position to the end-effector and arm is gonna act as per the same algorithms as the legs did in the 2nd para.
This will ensure that the motion of legs and the moton of arm are co-ordinated together to maintain the body balance while performing some high level motions.
The only point of concern is that it's all hard coded and everything happens as per the predefined maths for the predefined environmental conditions.
17 - 0
This upcoming Quadruped is bigger than Xiaomi's CyberDog !!! 😱 Are you guys excited for this final year project ?? 😍
10 - 0
Heyy!! This is Akarshan, a Motion Control Software Engineer from India 🇮🇳 . I love solving maths & dynamics for motion planning & developing algorithms!
Subscribe and hit the bell notification of this channel for more exciting cool videos on Robotics (specifically Robotic Arms and Quadrupeds) !!