Samsa II, The Hexapod

[ pabloxid ] common an Hexapod plan on the forum formed on an Arduino MEGA 1280 and 18 Dynamixel AX-12 motors:

SAMSA is formed on the Wiring board, with an ATmega128 microcontroller, and SAMSA II on the Arduino Mega , with an ATmega1280 . Both are flattering similar, difficult the ATmega1280 has 8 KB SRAM, twice the ATmega128. For SAMSA II the Arduino IDE was not used. The program was created right away in C++, using a few libraries from both Arduino and Wiring.

SAMSA II has moreover two extra microcontrollers. One is an aged Arduino Mini (ATmega168) located in the head, tasked with handling the sensors. The other is an ATmega8 and is integrated in the display. The firmware in the manifestation was transposed with other one, pardon the principal microcontroller from handling the manifestation pixel by pixel, storing the support buffer, etc.

The head's microcontroller is accountable for sampling, filtering and processingsensor's data. The information from the Sharp stretch sensor and the parallel IR sensors are amalgamated in a singular "super chic stretch sensor". This microcontroller moreover decodes the information forthcoming from the 38 KHz IR receiver , used is to Remote Control.

These two extra microcontrollers serve lower the bucket on the principal microcontroller, permitting for more complex behaviours.

A lot of work is still to be done. It may be sorted in 3 categories. First, keep enhancing the stream walking. Refine the different kinematics, tweak the gaits, etc. The second citation is to increase extra functionality: debate recognition, use the vicinity sensor to give a few fun behaviours, increase new sensors, things similar to that. The third is to emanate a new on foot system, formed on sensors in the legs and accelerometers.

Pablo Gindel JorgeVisca, Mar 22, 2011

Some early voice approval experiments (based on Wiring) were already done. Amazing work guys!

via [ pabloGindel ] [ Arduino Forum ]

This access was postedby d.gomba@arduino.cc on Tuesday, Mar 29th, 2011 and is filed beneath AVR , Actuators , C++ , Coding , Espaol , Exhibition , Hardware , IC , IR , Led(s) , Libraries , Matrix , Mega , Motors , Sharp RangeFinder , Software , Speech Recognition , accelerometer , electret microphone , motivation , drudge , sensors , servo .You can follow any responses to this access by the RSS 2.0 feed.You can leave a reply , or trackback from your own site.