Robot Dog V3 - 3D Printed & Open Source #1
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- Опубликовано: 2 окт 2024
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I've previously built several robot dogs which used a variety of servos and brushless motors. The most agile robot dogs are the ones with back-drivable low-ratio reducers which allows the motor to be back-driven so we get some natural spring in the legs - which can be controlled on the fly with software. So it's time for openDog V3 - this version uses my Cycloidal Drives which I've developed over the last few months. I will eventually publish the CAD and code as open source when it works.
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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.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
It’s almost sacrilegious to reduce this amount of development work down to a 14 minute RUclips video! I can only guess how much time this took in real life, but it must have been very substantial.
Anyway, this looks really promising, and I can’t wait to see the end result.
And he is doing this every week.
I'm sure that the development from v1 to v2 to v3 impacts that greatly. Very little of this is things that he hasn't done before, this is more a perfection of version 2 with the gearboxes.
Just last night I was thinking "Too bad James Bruton doesn't work on his dogs anymore" and here we go! What a great way to start a day.
With all these printed parts, the whole thing also takes a little time :D
Are you kidding me? The man never sleeps. He's literally Jimmy Neutron all grown up.
Dude that was me this morning! This series, Jerryrigeverything's hummer and Colin furze's tunnel (idk where colin is) they're all giving me life right now.
Thank you so much James, Jerry and Colin!!!!
@@itsprobablykiaan Check out ILikeToMakeStuff's Karmann Ghia if you want more of the same, btw! Love this stuff and James is one of the best.
But a fool you were
You can see all the lessons learned from v1 and v2 in v3. The pace of build is also so much faster. It looks lean and refined. Excited to see how it performs with electronics onboard!
There is going to be v3.1 though. There's no way that he won't fix the top bars :)
I'm amazed by how much quality work you do in a week - from design to printing to assembly to video filming and editing. Do you have people who help you get all this done?
what happed here
@@thyros_ No idea. I've reported some of them, but more came.
@@rdyer8764 There's multiple bots and Google won't do anything to them since they're small time, they have more important things to do like banning free speech and all that :P
Edit: I'll just say I spent around 10 minutes combing through the comments section and reporting all of the Rita-Bots for spam (over a hundred methinks), it gets a bit faster once you streamline the process and get more efficient at it: (triple dots, report, unwanted commercial content and spam, ok, ok, scroll to next bot)
@@Avetho last time I heard anyone talk about “banning free speech” it was butthurt people who wanted trump to win and got banned for spamming… lol
@@7XHARDER oh trust me I don't like spammers either, no matter what they are saying XD
stout supporter of "slow mode" in stream chats and whatnot lol, no unintelligible waterfall of matrix text
it's crazy that James puts all this work into making these fantastic projects, and then just... makes them open source. Honestly a huge breath of fresh air.
@@ericlotze7724 cant wait to see that pack.
Mmmmm yes, been waiting for V3 keenly. New colour scheme is mad as well
Ikr
Its amazing how much you can done in such a small time. So many projects, so much CAD work and then the editing on top of that!
Damn, the more I look at this channel, the more I want to start building bots... So cool you are making those kind of OpenSource project , really helpful for begginer, will totally try this out!
Finally, when the wacky wheel saga ended our robot good boi has returned
It's a cycle, he builds a dog, goes onto do seemingly random things, then comes back to the dog with what he's learned, repeat.
James is an actual modern-day hero of the people.
Big up, my man. Love to see the dogs project getting some more love.
“Open Dog version 2 which works ok.” I think you’re underselling your achievement there James!
Every time you see the prints, you realise the amount of time he's been working on his projects. That looks like weeks worth of printing, at least!
Fortunate he got loads of 3d printers :D
Oh for fecks sake Rita go home, no one wants to hear your poetry
@@rorygallagher628 Its a bot not a person, best to just report it and move on, especially since there are more than two of them iirc
Edit: Frankly, its somewhat amusing and infuriating in equal measure just how little Google actually cares about spam bots and other things like that since they don't do anything but ban people who say things they don't like
It actually weighs as much as a real dog! That's so fun.
The work you have been doing has really paid off, that thing looks stellar! Excited to see how it runs!
Wow man I'm out of words. I love how you iterated the motor design and now your assembling v2. Too good!
The movement of robo-dog does have an excited character to it. Thank you for an excellent video.
This is the bread and butter... the very reason I watch this fantastic channel... the open source boston dynamics-ish nightmare... I want to be able to print my own version of what keeps people up at night...
You are an inspiration sir. 2 months after this video is posted, I'm sitting here debating on if I shouldn't give up on a dream for robotics, but no. Driven on again.
Super excited to see this version operate!
This version of open dog is looking amazing already
Can't wait to build on of these!
3d printer is the most valuable friend for inventors.
I can't wait for OpenElephant, 😃
Can't wait to see version 4
So much work. Huge respect for your engineering stamina.
new 3d printing music. a new era has begun!
I know about 15% maximum what's happening here, but I do know that this is some engineering-ass engineering!
The build so far is looking like a well integrated piece of kit. Looking forward to seeing its evolution.
This one is looking really good.
Looks great. The problem with leg hitting carbon fiber tube: maybe you don't need two tubes at the top, and could change to a single top tube in the center?
cool idea! like a back bone
Watching this video is like Christmas! Glad to see you hopped on the Lulzbot Sidekick train :)
I was so sad that you didnt show it working yet ....then i realized you built all of it in 13 minute video. Insane productivity
boston dynamics has left the group!....
Oh yea, I discovered this channel yesterday and just shoved my nose into dog v2, and yay, I'm blessed this video
These videos are such insanely high quality.
Congrats on 1M btw!
Super cool work man. I will say though it looks like your prints could use a little tweaking. Visually the first layer needs a bit more extrusion and then maybe adjust your layer settings. Or adding a enclosure around your printers will help with layer adhesion. The stringy-ness and rough sides is a dead giveaway that they aren't performing as well as they could be.
Wow - this really is excellent.
What a great project ! Thank you for putting so much in only one video :) Looking forward to the updates!
Nice work James! Thanks for sharing
That is pure insanity 😲 great work!
I have a suggestion: what if you changed your design, swapping the two upper carbon fiber tubes for a single, centered one? The benefits are:
- Increased shoulder amplitude.
- Less weight, considering one tube and its attachment gone.
I support the toblerone dog idea
You could simplify the design using only on bar/tube at the top of the dog's chassi, would give the legs more lateral range of motion.
This guy is crazy, I found out about him approximately 2 weeks ago and binge watched almost all his videos up to now. The amount of content he creates in such a time is amazing. As a mechanical engineering its great to see how he tackles certain problems. Thanks for the entertainment and knowledge!
Fantastic video! Thanks for sharing your ingenious work!
wow you will disrupt robotics at this rate . well done you have a great skill to give robots to the masses.
yessss - been waiting for more doggy goodness 🐶
like to see you get back to bipeds and maybe a transformer ?
within the first minute this is all stuff I wish I had the freedom to develop and engineer!
design looking Strong 😃
thanks for sharing your experience with all of us 👍😀
Thanks!
So cool, love it
Super cool man! I love the robot dogs you make. You make better robots than some companies. :)
Some thoughts:
Maybe to make more room for movement, instead having two bars on top, just have one down the middle? I think the plastic double motor mounts are plenty of support, so two bars on top is overkill, I think.
The shoulders look heavy. I'm wondering if the knee motor could be moved from the outside, to on top, and transfer power with a driveshaft down to the knee, if you know what I mean. Moving the weight towards the axis of rotation will make it easier on the first motor trying to rotate two other motors.
I like the new montage music!
This looks fun. Can't wait to get the files and attempt making one myself :)
this is 3D printing at its prime. Thankyou for your big bumpy brain James
Wow, dude. That's a lot of bearings. Would it help decrease vibration if you printed PLA with a thin layer of ninja-flex for the bearings to ride on?
You are crazy x) awesome project. Greets from nuremberg, germany
Well I was going to try and get sleep for school but looks like I'm watching this now lol
Ivan Miranda definitely approves the colour of the dog!
So glad V3 is starting, I sure you covered this in an earlier video by what are you keeping the legs on V3 pointing in opposite directions?
At 12:30 I wanted to hear: „hopefully it works better than Boston Dynamics spot mini“ 😂
Super job!!!
Wow how cool is that!
Wow that's a really clean and maintainable design! I'm not a big fan of plastic gears but i think your design is still better than the complexity of going metal or the downsides of geared motors.
And yet including the odrives, batteries, brain and filament, i bet this thing costs over $2k... why must robotics be so expensive 😩
At 6:56 should have braced that black motor surround to the white piece on the output of the double one
So cool!
Intensely cool, friend.
Inspiring.
How many printers do you have running to make all those parts? How long to print everything? Impressive!
You should do a video where you play around with silicone grease, lithium grease, graphite dry lubricant and teflon dry lubricant in various 3D printed mechanisms to test for how much they improve performance, quietness, efficiency and wear... And also some long-term testing to see how long the lubrication actually lasts and/or if any of them (such as lithium grease) cause harm to the plastics in the mechanism.
This is crazy awesome! As an engineering undergrad, the more I learn the more I appreciate how hard every part of the process of designing and building such a robot is, and you just nail every part of it!!
Now make it fetch 😉
Nicely done! I like the simplicity of the design as well as the color scheme. I’m looking forward to the tests of the cycloidal gears. “Good” that you can get 400 bearings for such a price these days.
There was a lot of 3d printing involved, your two TAZ had to run non stop in the last couple of weeks, didn’t they?
I believe he has 6 printers. 2 large Taz and 4 smaller ones.
@@Scott_C ah ok this would explain it, cause the overall amount of printing is a lot 👍🏼
love the vid great job
OpenDog 3: Majora's OpenDog :P
To debur the rods you can make a jig with either just a hole or a few bearings🔥👍
Hold the dremel in the right angle and enjoy the satisfaction before you run out of rods 😁
Would using iglidur (no, has nothing to do with Tolkien or LotR) bushings from Igus instead of metal or nylon bearing work? Stuff is super smooth and very lightweight.
If weight wise the bearings are still to heavy, consider trying UHMW rod. UHMW has a great natural lubricity to it. As long as your not putting UHMW against itself it slides wonderfully. Which would be a considerable weight savings. I would say that nylon didn't work as well partly due to the fact you had one solid rod interfacing with both the upper and lower drive, which are moving opposite each other.
If you use UHMW naturally it would be possible to replace those labor intensive metal rods with larger, printed fitting alternatives right?
@@joe7272 i am not sure tbh, i have only used it in small applications for its lubricity. where the material thickness is thinner to begin with. In these applications till will compress and deform. But that is not considered a problem. as it returns to original shape unless marred by something.
I now i tend to favor metals for shafts as opposed to printed ones, partly due to the lack of layer line weaknesses and dimensional stability.
Can you please try out using artificial muscles on a robot like this? I was thinking that you could download a 3d model of a skeleton and attach artificial muscles where they are on the real thing ( it's what I'm trying to do at least ).
P.s.
My notes on coiled monofilament (fishing line) muscles:
Using 500m of 0.8mm nylon monofilament line I found that using a weight of approximately 850g to keep the line in tension while twisting helped massively in ensuring that the line coiled up correctly. I have also found that the muscles post twisting are around 75mm in length and then stretched to around 130mm before annealing to keep the shape (unwind a few revolutions at a time if it is too hard to stretch).
As of yet I haven't been able to try to anneal any muscles yet but you would want to anneal them at around the nylons glass transition temp + about 20°.
To get the muscles to contract, the normal way to do it is to wind the fishing line with thin enameled wire before coiling it because the muscles contract with heat.
It is found that most muscles contract to about 75% of their relaxed length but some apparently can go to 50% with the trade-off of a shorter life span.
I hope that you can try this even if you don't use it on any robots, it's just that you have far more experience in building + designing robots than me.
James must be dreaming about cycloidal drives in his sleep.
nice look and color for this one
How did this dude do alone in his bedroom in a year what took Boston Dynamics three decades and billions of dollars
It says something about the quality of your videos and the caliber of your audience metrics that a high end professional engineering software company like Altium sponsors you!
OMG, i dont wanna know how long this has needed to print oO
You are a mad genius. Any other you-tuber would make this build a 30 part vid series just to get as far as you did in 1 vid....super exited for he next episode!!
Instead of metal bearings, maybe there are some kind of bearings made of some lighter material? (eg nylon)
The double cycoldal drive housings kinda look like faces
09:38 - You could've potentially saved yourself some weight here by printing the 4 red frame parts into a Y shape, rather than the H shapes. However, if you were going for strength and storage area, I guess the H frames give you that. Y frames made from aluminium would be strong and made stronger still with printed collars for the tubing
OMG! This is next level sh!t! I wonder if anyone out there is going to replicate this robot.
instead of bars going right across the hip joints of the legs, couldn't the bars across each other be indented toward eachother in a mesh between an X and H shape for strong stability with increased hip motion?
Love your content. Just amazing what you have accomplished. One question. Could you avoid having to cut off the end of the motor shafts by recessing the captive nut into the motor cams? Or, is there just not enough space to leave adequate material for strength of the cam?
awesome :O
Just looking at this feels insane. For some like me, there's no way I'd be able to do stuff like this. More Power to ya.
You should put some white grease on those bearings to make it even smoother
This looks amazing, but you do realize that the "open" part of opendog becomes less useful like this. There are very few people as dedicated as you to create this :)
I really appreciate you taking the time to develop this and share your knowledge with us.
Boston dynamics: must be sweating right now
Open source? Already more useful to humanity than Boston Dynamic's Atlas
Excellent project 👍 I liked it 👏
Awesome !!!!!
Should mention that it's SEMI-3D printed.
James have you in-person checked out the Boston Dynamics dogs? I would love to hear about the differences. I assume their components are much more expensive and powerful.
James, I want to see a picture of your stock of 3d printer filament.