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openDog Dog Robot #8 | First Motions | James Bruton
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- Опубликовано: 17 авг 2024
- Part 8 of my openDog open source hardware & software Dog Robot. This time we're going to write the first bits of code to get the ODrive brushless motor drivers and motors calibrated, get the actuators homed, and program the first movements. In the next video it'll be time for the kinematic model.
My open source robot dog project. It includes everything from 3D printing to coding, including a lot of CNC cutting and installing all the electronics myself.
If you want your very own four-legged friend to play fetch with and go on long walks then this is the perfect project for you. This way a dog can literally just be for Christmas. The full CAD is available at the link below for anyone that’s keen to build their own.
github.com/XRo...
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② XROBOTS
Former toy designer, current RUclips maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
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I think the reason this is my favorite open dog is because it actually looks like a robot dog
SLAVE1_DATA_STRUCTURE and SLAVE2_DATA_STRUCTURE are the same structure. No need to make 2. Just make one SLAVE_DATA_STRUCTURE and declare your two variables mydata_back and mydata_front using it. This has to be one of the best project builds I've ever seen on youtube. Nice work!
well done Mr Bruton. I am pleased with the progress on my drones. I feel confident you will make good your delivery of the Unlimited Powarrr you promised :oD xxMDK
Oh man, seeing that rc dragonfly behind you is a major throwback! I used to have one of those and had lots of fun tinkering/hacking around with it :)
ok, I have to say, just watching the dog lean forward and back under it's own power is cool, this is going to be an interesting stage watching you turn from simple direct control od the motors from the remote to the brain taking guidance form the remote and turning them into guided actions.
hopefully some of that happens in #9
@James Bruton - The suspense is killing me! I see you have the code to 9 but anxiously awaiting the video! Awesome job by the way on this and ALL your projects and thanks a ton for sharing all your work!
The videos are great, I've seen the odd video of yours before but this openDog project has me hooked. Great stuff. :D
thanks!
Attractive beast.
That creaking is like waking up in the morning, or the first time for that thing, and popping bone joints and loosening up with some stretching.
I feel like everyone including me needs that know-how fr. Building all these cool things i bet it really makes life easier.
Good morning James. I would like to contribute something to your fantastic project. This is:
Suppress the limit switch and the encoder and replace it with a distance sensor (like those used by 3D printers) to be able to know at what angular distance the leg is. With this we get that it is not required to zero all legs when turning on the robot. It would only be enough to read the distance and only move the necessary ones. This will be more effective and also would be more economical and with less wiring.
Greetings and keep impressing me.
I will never get bored of you saying "arrrdweeenooooow" in that true nasal nerdy voice.
Fantastic project by the way!
James! You're a huge inspiration to me and my robotics team! I feel like I hear more than I can learn watching your videos one time so I watch them several times a piece. I would become a patron if I had the capital to spare but for now I just have to be an avid free supporter. Keep it up.
as a rc hobbiest, i have definately subscribed to this channel
Brilliant James! don't worry about the code snobs, your prototyping, im sure you'll recompile and clean it once you feel the need and the timing is right! Look forward to seeing your kinematic code and the thought behind it! Cheers!
I really love your enthousiasm and dedication for robotics
Be careful putting your hands near those linear ballscrews... You think a crushing injury won't happen to you but you look away for one second and it does. Especially with those nice and fast motors. I partially amputated the end of my finger with a pneumatic cylinder, so believe me, watch yourself.
Malachi Landis Needs fairings
3D printing is good they said. It will be cheap they said.
Lol this is a dream coming true. Would love to have my own little DARPA dog.
James, this is bloody awesome! Loved watching it move for the first time. I am shocked at how quiet it is. Sure the little clicks were bothersome, but if you compare it to the BD dog it is silent. Really looking forward to the first steps and balancing on three legs.
thanks!
The Boston Dynamics stuff mostly runs on hydraulics, which means a loud hydraulic pump. This is purely electric so it can be very quiet.
Their smaller machines are electric
Nice work, James. I'd love to see it stand up from lying down position. What a good dog!
all his work inspires to continue learning robotics
"A great genius"
Thank you for breaking down the code and methodology of what is going and how you are transferring data and such between all of the elements in robot dog. I will definitely be looking into supporting you via patreon in the future.
thanks, lots more detail coming!
omg i can't wait until she walks! James you are brilliant!
I'm so impressed with all of your projects. Been a fan for a long time. Just think what you could do with more support!
Surely you cannot possibly overcharge from regen braking.
Any power being regenerated has already been depleted from the battery and theres no way regenerative braking is over 100% efficient
It could use potential energy of the robot itself
potential energy of the robot is very little compared to the charge of these batteries and won't overcharge them
In this situation, no, it’s unlikely. But take this example:
I have an electric bike. I live at the top of a hill. If I set off for work in the morning with fully charged batteries and use regenerative to slow my descent, I could easily overcharge my already charged batteries.
Always assume that someone will find a way to do what you think is impossible. There could be a kid moving the leg up and down by hand, generating the overcharge power I guess.
Simen1991 in that case, there would be no braking since the motors could not be on- they would fight the motion/hold the motion
When ever I want to feel really stupid, I watch one off your videos. Thanks my 🧠 is mush now.
It's amazing what someone with knowledge N practical experience can achieve. The programming N electronic side of the Bulldogs creation. Great vid as always. ThankQ. TkEZ»UK
part dog - part spider (with those separate 'leg brains')
looks amazing
and super credit for the opensourceyness
Very good prototyp James. This dog 🤖 for rescues team will be genius for futur. 😉
Normally i would do stuff in aviation mostly rc vtol. But this is really inspire me to try this one day..just wauw!! Big fan of your work James!
All my admiration and respect for you work production ratio. Its amazing how much complex work you can do in so little time.
From description - "If you want your very own four-legged friend to play fetch with and go on long walks then this is the perfect project for you."
LOL! Just got regular dog. You will not be disappointed!
Super excited to see the kinematic models at work in the next episode!
That robot dog looks amazing!!!!!
It will be so cool when it is ready to walk!!!!
As usual your awesome, please let Colin put a flame thrower on it
All that nice high power motor noise means you should probably be running optoisolated inputs from the limits switches to the arduino. It will both essentially eliminate your false triggering and protect the logic level inputs on the arduinos.
Damn I love this channel, so much nerding smashed into 30 mins!
I'm ready for a well balanced update video, you should call it 'Part 9'
Part 9 comes out Tuesday this week!
Yay :-)
Amazing work! This is an awesome build, and seeing all the pieces come together is a real learning experience for me.
definite improvement on your tech - ! this one is getting reasonably exciting.
I think you have done a great job on this robot. I really look forward to how it progresses.
At 10:10, it's not because you used "unscreened" cable, it's switch contact bounce. Basically you implemented a software debounce - shielded cable would not help with this.
nope - the switches get 'pressed' even when the presser is no where near, it's not a debounce issue
Then you maybe can eliminate it with some parallel resistance and/or capacitance.
Would a pull-down resistor help with the voltage floating issue?
To a degree yes. It's worth a try.
10:28 Maybe you have found it since, but there are arduino libraries for button press handling which also eliminates ghosting. I recommend those.
I am from Brazil and i loved your projects. Nice video.
This robot looks like a mashine built by a crazy scientist in a sci-fi movie. Just a little bit more professional. Great work!
Can't wait for "openDog Dog Robot #9"
it's being made now!
James! Suggestion for future! Let openDog to learn to walk via neural network! =D That would be fun experiment)
How would you do that though? either you need a computer simulation to do the training with thousands of iterations virtually or you need to train it in real life, I remember Boston Dynamics using a treadmill to make the robot run in one of their videos.
Yeah, i was thinking about virtual space, only thing i came up with is unity3D))
Why would you do that with unity? Wouldn't be that unnecessary slow?
I have been thinking, from the beginning , about write a AI Controller, trained in a virtual environment. The problem is just that I have no time at the moment. Unity would be OK, as environment you can speed it up. The only Problem with Unity is that the Physic model is not directly usable, and had to by modified. If you use A3C or the newer IMPALA, you can run multiple environments simultaneously, which would speed up the process.
PS:
I remember reading a paper a while ago,in which they have trained a Hexapod, in a virtual environment using random weights offsets.
I made a small model of a keyboard controlable walking dog robot on Pybullet on my channel. It is not based on a neural network but on direct control and geometry. It can walk and turn. I think that can be quite nice as a start and it has no unpredictable behavior.
an awesome project! Thanks for posting these.
thanks, there's more coming soon!
Boston Dynamics... U.K. version... but I believe in the U.S. there is a big team of engineers behind this robot, which makes what James does really outstanding.
No kidding? Someone knocked off the creepy Boston Dynamics military dog thing? lol. Both very funny and neat at the same time.
And you've gone through all this time, effort and expense to build a big complicated toy, and haven't gotten a lathe? :P
whait....
Marcus Lengs Blackfly : flying car
Elon Musk mars mission
Mind-Controlled Bionic Arm
Who Framed Roger Rabbit 2
People building their own robots.
We really are in the future! :O
I would really like to see you building a linear actuator from scratch. You already almost did here but not quite. Looking forward to new projects!
Ultron is peering over the screen waiting for his pet!
Such an awesome, ambitious project! a bit of oil/petroleum jelly could also help with the creaking :)
Great progress!
Yea, making the code modular does make sense (to me).
Amazing progress, your motoring along, it looks great . Interested in seeing how fast the legs will move, you may need nylon ends on the feet to prevent catching on flooring
Im actually impressed,how smart you are. I love you
This is really interesting. Make it work with ROS and you will have thousands of institutes and companies wanting to get one.
Have you considered more of a object oriented approach? It could help to reduce repeated code for each leg and allow for faster editing/hacking in the long run. I know the project is still in an early stage and I am excited to see how it progresses! Good Luck!
lordofthe6string I would say reducing his like 8 very similar leg code chunks into 1 or 2 would be very helpful, in processing power and memory conservation.. just my guess anyway
i am 33 and your my hero, cheers for been epic :)
thanks!
This should be made into a series each time improving the design. At this rate it could compete with Boston dynamics sooner or later. Like if you agree
well that's probably what'll happen, but there's only one of me
Awesome video ! A job well done. It sure looks like a rather expensive robot. Good luck and continue your amazing work !
I love open projects
How did I not know about that the stream operator overloading of Serial trick!? the Serial
Perhaps try and make classes for each leg and its own movement and then have another class that controls it all.
It would probably be easyer to control it all.
But the robot looks Really cool!
> make classes for each leg
you mean objects, not classes, right?
Beautiful!!!
Can a small child ride it... 😂 Really awesome progress, it's amazing to see how far you have come since the BB8 v1 when I subbed. Keep it up James!
Wauw!!!...dont stop...amazing...one day I'll try to built one too....of I can I 'll support you...
Saw that first leg go up at about 13:30 and was looking for a shot of yellow fluid on the ground...just saying, it was that real!
Excited to see it finally move!
I would recomment you look into Sloeber. Its a modified eclipse version to work with atmegas/arduinos. Then you have the mighty power of eclipse with indexer and way more easy to manage multiple projects and in those multiple files
You may not have a lathe, but you're trying to turn down the diameter of something that bolts to a beefy motor.... Just bolt it on, fire up the motor and use a file and sand paper to turn it down.
With lathe you can measure it as well. It will be million times more precise.
And metal dust is going into the motors bearings
file for a bit measure, file a bit more, measure...
put a vacuum hose near it?
Thats known as poverty lathe. It sure works, but precision is kinda far from perfect. I have used this several times in the past, but in his case maybe best option is to source this to company with a lathe. 10mm to 8mm is not that much of a job really.
Morning James.
I think this might be the quietest bot you've made! I was surprisingly quiet.
Great work!
Naaww, it's so cute when it picks up it's rear legs like it's a real dog trying to pee. 🐶😍😍😍
That thing is looking awesome, but its getting to the point where you need to give it a proper name, like Rex, Baron Von Barry, Dog(no)meat or maybe Robo McDogFace.
Also once the wiring is more or less finished you should wrap it with tesa tape to neaten it up, thats what they use in car wiring
Why not put homing at end cycle. Right before the power off it will automatically home positions and power itself off. So when you power it back on , the RoDog will be ready instantly.
Epic job! well done. cant wait to see more progress
home switch noise, small (0.33uf) will work better than screened cable
That's looking pretty cool. Good job.
This is a fantastic robot. Nowhere on internet have I seen an individual create such a cool robot! I see that a lot of commenters/followers would like to build robots but this one is a bit out of reach for most of us. Maybe in the odd weeks, between the openDog updates, you could do little teachings of smaller cheaper robots that people can build along at home. Just a suggestion.
hi James, i love your videos, and look forward to every progress. I would like to add my two bits, as for what you could do to fix the encoder 8mm diameter vs the 10mm aluminum stud....i think you could mill the aluminum shaft with the tools you have, by mounting the stud upright and mill around the 10mm shaft step by step until your happy with the finish diameter and length......anyway i'd give it a try, would be a quick fix before buying and learning how the lathe
your robot should calibrate itself baby
it does
when were going to see it wandering around !?
The progress is very good I wondering if this robot should need a flexibility in the column for better mobility? However is really good. Me encanta!
@James Bruton, would it be possible to order the playlist in chronological order? Makes more sense that way.
Great work MAN!!!!!
You need to get alot of leather, some brown fur, and make the thing look like a bear when you finished it
Get a thin layer of jello, attach it underneath the fur to simulate fat, put a little speaker in its mouth
Although it would mean you would have to make an articulateable head
Infact, why not add a head thats sort of like those scissor lifts? It can carry shit and move it a distance away from itself
I was thinking, with everything being made with zero backlash (well done) that would also mean that vibration can be transfer fairly easy throughout the body? Some shock absorption might be necessary?
You should twist the endstop wires together. That will help mitigate interference.
600 k james!! your going to end up being very famous mate!
I'm just a mechanical engineer, but my professor in mechatronics told me that pullup resistors can stop the jitter with the home switches. means also your switches need to connect the arduino to GND for switch activated.
My best guess is that you tried this already and it didn't work ;)
this is amazing
Since you mentioned adding a full blown computer in the future, I wondered if you had investigated the SBCs that are on the market these days? There are octacores with GPUs that support M.4 drives out there. If you could unleash the power of a GPU on your inverse kinematics, that would be nuts. Opendog's reaction times would be off the hook. LOL
so amazing I wish i have that too
OMG, the high pitch whine when you lean on the robot when it was first standing (and when you manually rotated a motor) wonder if it would be possible to run the audio channel through a low pass filter to get rid of the whining? It really kills my ears as I listen with headphones at work usually.
Love the Betamax shirt ! :)
Holly cannoli this project is nuts!!! Hopefully with community support some really nice code can power this beast to its full potential. Have you thought about making a low level firmware that can run under more complex controling algorithms? That would make community input easier.
it looks like SpotMini by Boston Dynamics lolololol i love opendog
go go OpenDog !
if everything goes fine, you should add gyroscope and runtime compute IK leg rotations for irregular ground ; ). it should make cool balancing effect ;D
Which version of the joysticks did you use. I bought the R3 version and when check the voltage from 0v to 5v. Im getting closer to 1.17v and 3.6v which is way less resolution.....did you buy the R4 version? There's a sticker on them
Hey man. You should talk about the Odrives even though they are changing. I am thinking of buying some.