This is my first blog entry on robots.net, but I have
already been maintaining a blog at http://robotsaustralia.blogspot.com
which mostly contains notes on my current robot Quadruped4.
probably try to cut and paste blog entries here, or at least
link to appropriate pages on my website http://robotsaustralia.googlepages.com
Here is the most recent blog entry, before I took off on a
month long holiday, so it's already a bit out of date!
Tuesday, June 12, 2007;
Time to post an update on what has moved forward with the
Quadruped4 robot design. The PCB for the Dynamixel
controller has arrived, and all parts for it as well, and
also quite a bit of cad work has been done playing around
with various options for the mechanical design of the robot.
Here is a photo of the PCB partly loaded. You can see the
two Atmel Atmega micros, one is the AtMega128 and the other
is the AtMega2560. On the far right is the outline where the
WiPort WiFi module will go, with a few parts carefully
fitting underneath it in just the right spots where there is
I have also been working on the mechanical design of the
robot, and although there is still much to do, and I am not
fully happy with several areas, I think the robot will
eventually come out something like the design
Note the WiFi antenna naturally positioned as a tail...
Earlier images I created for this robot didn't have the
right cameras on it, whereas I have created a somewhat hasty
model of the C328 serial camera modules I actually intend to
use for this model. Also check out the shoulder joints for
the legs, these use a custom
bracket I have designed for the
Dynamixel AX-12 servos which forms an offset hinge between
two AX-12 servos. This function could be served by the
Robotis offset hinge and flat plate bracket put together,
however that would be bulkier and would not quite have the
configuration I am after. The
brackets form a left and right pair, and attach to each side
of the AX-12. I will machine these out of nylon or similar
material, and although the machining will be a bit tricky, I
think I should be able to achieve it.
Here is another
view of the design as it stands. I'm not
sure of the top cover, it is really not needed, and I kind
of like the idea of seeing the electronics etc, but it will
offer some protection I suppose. I need to make plenty of
asthetic improvements to the shape of some of these panels
as well, the whole thing looks a little like a skateboard
deck at the moment.
Anyway, this will be the last post for a month or so, as I
am travelling to Italy for a holiday, so robot work will
take a break too! When I return, I shouldn't expect it will
take long before all the parts are loaded onto the
controller and I can attempt the all important critical
first turn on...