Forum >Realization of a hexapod
Realization of a hexapod
Wednesday 2012-12-27 07:50:38 26360 Views25 Replies Good morning (or good evening) everyone,
first of all, forgive me if my English is bad, I unfortunately don't speak very well this beautiful language.
Now, before presenting my project, I want to introduce myself : I am a teenager of seventeen years old living in Switzerland, currently studying in the college and who wants to continue his studies in the EPFL.
Today, I wanted to ask you professionals some questions about my project I am doing for a studying purpose, which is to build a hexapod. This is the first time I'm doing some robotics, so I'm not used with the practices. A hexapod is certainly not the best project to do for a first time in the robotics for a beginner, but I like when there is some challenge. Besides, Ia not beginning from anything x)
Let's speak about the hexapod. I am going to begin from a kit by DFRobot, in which the micro-controller is an Arduino Mega. Today, I have everything in my house, but now I have a big problem, which is to know "how must I begin my project ?". Indeed, I began by testing a bit my Arduino (knowing the C++, I can easily program in Arduino), but now I don't know how I must build my project, which means to say myself "now, I must do that and, when it will be finished, I must program this element, etc...". So, if anyone has a tutorial which explains this or could help me, I would be very grateful.
I too have questions about the following. When my robot will be able to walk properly, I want to add some "gadgets". I already have two ideas :
1) The first one is to put a camera on my robot, which will permit me to see, through my computer, what does my robot see through this camera. Here, if anyone knows a camera which is good for that and which is not very heavy, I would be very happy.
2) The second one is to put sensors on my hexapod legs, which will permit me to know if the legs are touching the ground or not, and to know the hexapod's position. Here too, if anyone know sensors which are of good quality, I am interested.
So, those are the questions I currently have. I know that this work will need a lot of work and of patience, but I am ready to spend a lot of times on this project, which is meaningful for me.
Thanks in advance for your answers ! : D
first of all, forgive me if my English is bad, I unfortunately don't speak very well this beautiful language.
Now, before presenting my project, I want to introduce myself : I am a teenager of seventeen years old living in Switzerland, currently studying in the college and who wants to continue his studies in the EPFL.
Today, I wanted to ask you professionals some questions about my project I am doing for a studying purpose, which is to build a hexapod. This is the first time I'm doing some robotics, so I'm not used with the practices. A hexapod is certainly not the best project to do for a first time in the robotics for a beginner, but I like when there is some challenge. Besides, Ia not beginning from anything x)
Let's speak about the hexapod. I am going to begin from a kit by DFRobot, in which the micro-controller is an Arduino Mega. Today, I have everything in my house, but now I have a big problem, which is to know "how must I begin my project ?". Indeed, I began by testing a bit my Arduino (knowing the C++, I can easily program in Arduino), but now I don't know how I must build my project, which means to say myself "now, I must do that and, when it will be finished, I must program this element, etc...". So, if anyone has a tutorial which explains this or could help me, I would be very grateful.
I too have questions about the following. When my robot will be able to walk properly, I want to add some "gadgets". I already have two ideas :
1) The first one is to put a camera on my robot, which will permit me to see, through my computer, what does my robot see through this camera. Here, if anyone knows a camera which is good for that and which is not very heavy, I would be very happy.
2) The second one is to put sensors on my hexapod legs, which will permit me to know if the legs are touching the ground or not, and to know the hexapod's position. Here too, if anyone know sensors which are of good quality, I am interested.
So, those are the questions I currently have. I know that this work will need a lot of work and of patience, but I am ready to spend a lot of times on this project, which is meaningful for me.
Thanks in advance for your answers ! : D
2013-01-24 22:42:27 Hi,
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang 2013-01-24 22:42:27 Hi,
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang 2013-01-24 22:42:27 Hi,
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang
The screws you got are right. You can find that 4*10 ones are the most. They are used to connect servos to servo stand. Each servo needs 4 screws and nuts.
And the 3*8 screws are used to fix the servo to the body and thighs.
Last, 3*5 or you said 3*3 ones are used to connect the servo stands.
Kimi Jiang 2013-01-24 06:48:23 Hello,
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ? Wednesday
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ?
Wednesday 2013-01-24 06:48:23 Hello,
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ? Wednesday
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ?
Wednesday 2013-01-24 06:48:23 Hello,
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ? Wednesday
firstly, thanks Kimi Jiang for you answer : D
I just have a problem with the size of the screws. In the site, it is said that there are three different sizes in the kit, which are 4*10, 3*8 and 3*5mm. I looked at the ones I received in my kit and I noticed that I really have three different sizes, but the last one doesn't correspond with the one which was supposed to be in the kit. Instead of screws of 3*5mm, I have ones of 3*3mm, so I cannot build the legs correctly.
Is it an error from DFRobot ? If so, do I have to buy other screws ?
Wednesday 2013-01-15 18:02:07 Hi, Wednesday,
The screws used to join the thigh should be the second type from left. You can also use those whose diameter is 2mm to fix.
Hope to help you! Kimi Jiang
The screws used to join the thigh should be the second type from left. You can also use those whose diameter is 2mm to fix.
Hope to help you!
Kimi Jiang 2013-01-12 23:24:46 Thanks a lot ! As you said, it was not a hardware problem, I just had to change the ID to be able to control my servo !
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday 2013-01-12 23:24:46 Thanks a lot ! As you said, it was not a hardware problem, I just had to change the ID to be able to control my servo !
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday 2013-01-12 23:24:46 Thanks a lot ! As you said, it was not a hardware problem, I just had to change the ID to be able to control my servo !
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday
About the installation tutorial, I have already seen the one you attached in your first reply. However, it does not talk about the whole kit, but only about the legs. It says "Later we will provide a detailed assembly of the whole kit" but the sequel of the tutorial is not in the same document.
I too have a question about the legs assembly. In the first picture detailing the material we can see three different sizes of screws : I assume that these are the three sizes included in the kit. But when I tried to join the thigh, I noticed that the smallest ones are too small for this area, and that the medium ones are too big to put after that the servo. So which one is the true one for this step ?
Wednesday 2013-01-04 19:32:55 Hi,
1. If you confirmed that your hardware connection for the driver and the serial pins is correct, then the problem maybe the software. There're two points you need to take care.
1) Every servo has an standalone ID. And you can't connect several servo with same ID together. And the default ID of the CDS5516 is 0x01 in my mind ( But I'm not sure ). Please check the ID using in your software. And there's also a simple way to check the ID of your servo. You could modify a simple code with rotating motor function to scan all the servo ID connected.
2) Do you have a USB to TTL converter in hand? If so, you could try to use the software to scan the servo ID connected to the driver. What you need to do is just connect the digital servo to the servo driver, and wire the convert to the driver. And connect the convert to the computer.
https://www.dfrobot.com/index.php?route= ... OZMSE2oPvM
3) I've attached a simple installation tutorial in the first reply. Please check it.
Keep in touch!
Regards,
Lauren Lauren
1. If you confirmed that your hardware connection for the driver and the serial pins is correct, then the problem maybe the software. There're two points you need to take care.
1) Every servo has an standalone ID. And you can't connect several servo with same ID together. And the default ID of the CDS5516 is 0x01 in my mind ( But I'm not sure ). Please check the ID using in your software. And there's also a simple way to check the ID of your servo. You could modify a simple code with rotating motor function to scan all the servo ID connected.
2) Do you have a USB to TTL converter in hand? If so, you could try to use the software to scan the servo ID connected to the driver. What you need to do is just connect the digital servo to the servo driver, and wire the convert to the driver. And connect the convert to the computer.
https://www.dfrobot.com/index.php?route= ... OZMSE2oPvM
3) I've attached a simple installation tutorial in the first reply. Please check it.
Keep in touch!
Regards,
Lauren
Lauren 2013-01-01 09:05:14 Hello again,
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D Wednesday
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D
Wednesday 2013-01-01 09:05:14 Hello again,
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D Wednesday
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D
Wednesday 2013-01-01 09:05:14 Hello again,
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D Wednesday
I tried with the power supply, but it still doesn't work. The software doesn't detect the servo, and so I can't control them through the driver. I don't know if the problem comes from the connexions, the software or from me (which is really probable :p), but it doesn't work. Isn't there in the Web a plan of the electronic connexions which are needed for this kind of robot ? (P.S : about the power supply, I used a power adapter instead of the battery which is included in the kit. But according to the description of the driver board, it doesn't matter).
Besides, I haven't been able to find a tutorial for the installation of the hexapod's body. Does it exist on the Web ?
Oh yeah, and happy new year to you too ! : D
Wednesday 2012-12-31 19:42:44 Hi,
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren Lauren
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren
Lauren 2012-12-31 19:42:44 Hi,
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren Lauren
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren
Lauren 2012-12-31 19:42:44 Hi,
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren Lauren
The digital servo need a power supply also. So you need to connect it from the DC2.1 connector on the driver board.
Happy new year! ;D
Regards,
Lauren
Lauren 2012-12-30 05:57:50 Hello,
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ? Wednesday
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ?
Wednesday 2012-12-30 05:57:50 Hello,
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ? Wednesday
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ?
Wednesday 2012-12-30 05:57:50 Hello,
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ? Wednesday
first of all, thanks you very much for your answer and your links, which are very very useful for me ! : D
I just have a question about the driver boards' connexions : I tried to connect one of them to the arduino shield and to the first servo, but then when I launch the software which is in the kit's documentation and try to search the device with the "search" button, but there is no result (there is a pic of the connexions I made below).
So, thank you very much again and good week-end ! : D
[img]http://i.imgur.com/35hCh.jpg[/img]
EDIT : I looked at the attach you gave me about the legs, and I read that it exists a tutorial for the body two. Do you have it ?
Wednesday 
