This website has been created to showcase my various development projects, robotic endeavours, portfolio items etc. so please feel free to browse. I will try to keep things as up to date as possible so do check back from time to time ;-) Comments are always welcome and if you need to get in touch you can always post me a message using the Contact form ...
This is a video of my latest creation. The body was made from rigid PVC foamboard, inspired by Trossen Robotics PhantomX Hexapod. There are 18 Robotis Dynamixel AX12 actuators controlled by a Dagu ‘Redback’ Spider controller. The code is based around the Phoenix 2.0 source code originally written by Xan. I’ve hooked up a wireless PS2 controller for input.
This is my new Dynamixel based Quadruped robot. I’m using 12 * Dynamixel AX12+ actuators and a Robotis CM510 controller.
In the video you can see that I am controlling the body position of the robot using an accelerometer. The accelerometer will soon be attached to the robot and ultimately help with balance calculations.
![IMG_0841[1]](http://www.sjwaller.com/wp-content/uploads/2011/12/IMG_08411-150x150.png "IMG_0841[1]")
This is the new body shell for my quadruped robot. I’ve also added some wiring sleeves to tidy up the cabling. One of the legs is dragging a little as the screws had come slightly loose. But now the robot is pretty much built I can finally start to concentrate on getting the walking gait smoothed up. I also need to think about what type of sensors to add for 360 degree object awareness.
This video shows Q-P2 running a Creep Gait routine. I think I need some kind of rubber tip on the end of the legs as you can see him slipping on the wooden floor. I might even add some pressure sensors to the tips so I can work out feet position over rough terrain …
Just a quick video demonstrating my robot doing some basic ‘press-ups’ using an IK routine. Finally got my servos sorted – using 8xHS-645MG and 4xHS-485HB. Next I have to start working on a smooth creep gait sequence …
It’s been well over a year since my QP-1 Quadruped robot project took his first steps towards stagnation into a box … So I decided to design and build an all new leaner, meaner and ultimately cooler looking quad … meet QP-2
Itchy Interactive is a company I set up as an outlet/support website for all my iPhone projects. So if you are interested in my mobile/iPhone developments then perhaps you might want to check it out: http://www.itchyinteractive.com There is also a blog that I keep up to date while developing new products.
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