Pinky, the octopod AI robot.
Goals: Learn more engineering tricks: Mechanical, Electrical, Software.
- Mechanical engineering; Gearing, Servos, Bearings, Nuts, and Bolts.
- Designed in Fusion 360, then export URDF for ROS.
- Electrical engineering; Battery (Li-Po), Voltage Converter (5V, 10amp), Microcontroller (pi Pico), Microprocessor (pi Zero W), PWM control board (PCA9685)
- Software engineering; Windows with Ubuntu VirtualBox (lubuntu20.04), ROS noetic.
Progress videos:
JointControl:
Stand command:x)
In depth details:
- knee/hip joints. Drive gear tooth count are: ankle=9t(2x), knee=12t(1.5x), hip=20t(0.9x)
- 12ish Volt Li-Po -> voltage converter -> 5-6volts -parallel> 2 PCA9685s v++ terminals
- Software
- Set up Ubuntu VM
- Enable shared clipboard, folder - guest additions
- Install ROS on VM
- Configure ROS ENV
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