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P-Hex

Tags:
Category: Walking
Progress: In Progress
Cost: ~500GBP
Time to Build: 1 month

P-Hex is a hexapod designed to be controled from the Openpandora handheld, built from most of a bioloid comprehensive kit, some scrap metal from monitors, spare battery from an old hovercraft (badly needs an upgrade) and some usb magic, involving a usb2dynamixel for control and an xbox 360 controller receiver.

 

more details on my blog: http://dinguxdev.wordpress.com/category/pandora/p-hex/

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Comments

wheagy's picture

Interesting..can you provide

by wheagy - 01/02/2011 - 11:58am

Interesting..can you provide more info on using Pandora as the controller?  Are there any docs anywhere on adapting it for this purpose?  Thanks -- Win

darfgarf's picture

There aren't any docs no, as

by darfgarf - 01/02/2011 - 5:33pm

There aren't any docs no, as i'm the only one who's used the pandora for this (so far...), but you can pretty much treat it like any other linux pc.

There aren't any docs no, as i'm the only one who's used the pandora for this (so far...), but you can pretty much treat it like any other linux pc.

 

 

The physical connection is done through a usb2dynamixel adapter, drivers have existed in the linux kernel for a while, so it pretty much just worked out the box once connected through the usb hub (usb 2.0 host to 1.1 host adapter).  The 360 controller is handled through the 360 wireless controller, for which i ported a userspace driver program for, link can be posted if needed :P

once it's all set up, the servos can be controlled pretty easily, it's just a matter of sending the commands using the linux usb2dynamixel library, which is freely available.  once it's working better, and can at least walk straight i'll be doing a proper project writeup, till then just ask and i'll answer any questions.

There's really nothing special about the pandora in this case, it could be switched for any other vaguely recent linux platform with a usb port

darfgarf's picture

just a very nice piece of

by darfgarf - 11/29/2010 - 9:30am

just a very nice piece of kit:

http://www.openpandora.org/

 

the intention is for the controller to move/etc, but the problem is software at the moment.  As i'm using the usb2dynamixel adapter, there's not really any pre-written IK engines, so it's a long slog getting one up and running from scratch :D

gallamine's picture

What is the Openpandora

by gallamine - 11/29/2010 - 9:27am

What is the Openpandora handheld? Are you using the Xbox 360 controller to move it around? Good work.