3D Printed Quadruped Robot Steps 2-20

/ gouldpa00
3D Printed Quadruped Robot, 12 Triple Disk Cycloidal Actuators, ML5010 Gartt Brushless Motors
Fully Open Source
CAD and 3D files www.thingivers...
More details at www.thingivers...
Custom Brushless Controller hackaday.io/pr...
Motor ML5010 (with Modified Shaft)
Absolute Magnetic Encoder AS5147 (Custom Board)
hackaday.io/pr...
Music (KZbin)
Clover - Vibe Mountain
Yummu - Text Me Records / Leviathe
Happy Sixth - Freedom Trail Studio

[@E4S65]

DIY at its best, I can't wait to see more updates!😁

[@PaulGouldRobotics]

I'll be back on this soon.

[@sriram198198198]

Hi Paul, You work is always inspiring and curious. I have been watching your construction since few months. Somewhere my basics of understanding are not clear and I have tried googling but did not find anything. Please answer the below few points. Thanks in advance. 1) I am trying to build a brush-less actuator with position control for a small robotic arm. I never understood one thing, How does a brush-less motor ( Geared/non-geared ) hold a position after reaching it ? What is going on inside the coils ? 2) Another huge doubt for me is, The Brush-less motor has 3 phases and these phases will have poles, so how does the motor stop and hold positions other than these 12 poles, What if we want it stop where the position falls in between poles ? 3) Right Now I am looking at ODrive, Trinamic TMC4671 Servo Controller Evaluation Kit. Please provide your opinion on the below idea. Can I control a Gerard 3 phase brush-less motor with 30:1 Gear Ratio with an RC Brush-less ESC to position control the motor with PID Loop ? Is that possible ? If Yes How does it hold the position after reaching it ? If no, why ? Thank You, Happy Holidays. Sriram.

[@sashanktirumala2775]

O drive is much more intuitive to use, I recommend that. Trinamic is more geared towards industry than hobby use case. Your first two questions imply you are not comfortable with the concept of PID. Read about that, hopefully it will get clear to you

[@sriram198198198]

@@sashanktirumala2775 thank you sashank

[@MuhammadHamza-ki3ze]

Are your products available. In market? Or can we buy them online?

[@PaulGouldRobotics]

I'm not making products, just showing off my hobby. Most of the information to make them are open source.

[@rudisoft]

Paul, you rock!

[@PaulGouldRobotics]

Thanks

[@stefanguiton]

Amazing! Looking foward to future updates!

[@aerospecies]

Well too late now but why did you not use some anti-slip material for the floor or the foot?

[@PaulGouldRobotics]

If something went wrong I wanted something to slip and not break the gears. They are plastic after all.

[@kaustubhkuvalekar7304]

Amazing work! I have a question as to how did you get the ESC to control the BLDC bi-directionally? Did you use a relay circuit?

[@PaulGouldRobotics]

It doesn't use an ESC (Electronics Speed Controller). It uses my custom position/actuator controller. It has two absolute magnetic encoders. One for Motor commutation and one for the joint position. Check out O-Drive for a commercial version of this.

[@kaustubhkuvalekar7304]

Paul Gould Ah I see, I have a few more doubts, would it be alright if I emailed you ?

[@PaulGouldRobotics]

@@kaustubhkuvalekar7304 You can chat to me on Hackaday messages.

[@ferhatacar50]

what are the programs you use

[@PaulGouldRobotics]

It is an program I wrote in visual studio .net. It is on my git page.

[@ArcherX19]

Why is this channel set as a children’s channel. I can’t save a notification bell cuz YT says it’s kid’s content. I don’t think children care about kinematics yet

[@PaulGouldRobotics]

I'm not sure how that happened but it's changed now. Thanks for letting me know.

[@uthvfyrekbnm6008]

I need you advice. I know you use your own esc-driver. What do you think about Odrive or Trinamic driver. what would you recommend ?

[@PaulGouldRobotics]

I haven't used either. I see a lot of people doing great things with ODrive for brushless motors in Robotics, as it can do full torque at zero speed. I haven't seen any applications where Trinamic is used for Brushless motors in Robotics. Trinamic would be great for Stepper motors. What is your application?

[@FilterYT]

That's pretty cool!

[@PaulGouldRobotics]

Thanks

[@aptech2933]

Exciting project I even follow you on Hackaday.io.

[@mohammadsulaiman272]

Could you help me in terms of getting the required knowledge for making robots of such type like bioedals etc. I an a self learner and have complete Intro to robotics and don't where to go next . Could you assist me with what books I need to learn and resources for learning such stuff

[@PaulGouldRobotics]

Just start making one. Copy someones design and then modify it to suit what you want. RC Servos are cheap, you can control them with a Arduino and you 3D print the rest. There are free CAD tools, 3D Printers (ender 3) are $200 and filament is $20 per kg. Learn C and Python. Get a Raspberry Pi and camera and learn Linux and OpenCV. There are heaps of info/examples on Adafruit, Thinkiverse, Hackaday, Hackster, Robotshop and Arduino Forums. I had one Robot book (was very basic and can't remember the name), but I do have an Engineering Degree in Mechatronics. If you would like more information you can chat to me on my Hackaday page.

[@mohammadsulaiman272]

@@PaulGouldRobotics ok thanks

[@jamesdavis2027]

so the cycloids are back-deliverable? Can you simulate series elastic actuation?

[@PaulGouldRobotics]

Yes it is back-driveable but it is a high ratio (25:1) so simulated SEA won't be great. I'm working on an new real SEA actuator with a spring and 10:1 ratio. I also think that simulated SEA is very power hungry.

[@klianino6559]

Hi Paul, I am starting in robotics. Would you be so kind to disclose the software you use to achieve the movement of the leg from the movement of the mouse?

[@PaulGouldRobotics]

I wrote it myself in Visual Studio (.Net). This is an open source project, so check out github.com/gouldpa/Inverse-Kinematics for the code.

[@klianino6559]

@@PaulGouldRobotics Paul, I wonder if we could get in contact somehow. I work at UT Austin and we are starting a startup in robotics. I do math primarily but have a degree in CS. We have some ideas on the robot we want to produce. I saw several your projects and interested to chat. anyway, my email is [e-mail], if you could drop me a message there, I'd appreciate.

[@typebin]

robotic push up lol - nice works!!

[@PaulGouldRobotics]

squats

[@chrism4621]

Impressive and inspiring

[@PaulGouldRobotics]

Thanks