#robotics Logs
Sep 06 2013
#robotics Calendar
00:02 MrCurious going to hear no more polish jokes from me!
01:21 GargantuaSauce_ perogi are the best
01:22 GargantuaSauce_ http://www.youtube.com/watch?v=bj9gFFyR3-Y MrCurious
01:25 MrCurious are you using a 1-2 triangle step oor a wave step
01:25 MrCurious or 1-2 triangle, 1 at a time wave wise
01:26 GargantuaSauce_ 2 legs are stepping at a time
01:26 GargantuaSauce_ other four are pushing
01:27 GargantuaSauce_ i think it's called a ripple gait but i'm not sure that's exactly the same thing
01:32 GargantuaSauce_ https://bitbucket.org/Ultrasauce/robots/src/1437ed28404239a600147b4417e1b3899e569af0/stm32/hexapod/walker.c code is actually pretty simple too
01:50 MrCurious that is the gait?
01:50 MrCurious that code?
01:50 GargantuaSauce_ gait and ik yeah
01:50 GargantuaSauce_ i just have a gait defined by a phase offset for each leg, and a step duty cycle
01:51 GargantuaSauce_ then there's a global gait phase that sweeps from 0 to 1
01:51 MrCurious nice distilation of the bare essence of the action
01:51 MrCurious i dont understand it yet
01:54 GargantuaSauce_ what i'm really happy with is that with only a very small amount of tweaking i could add legs and even make each leg have different geometry (same topology though)
01:54 GargantuaSauce_ if i want to make the legs 4dof i have to move away from an analytic ik solution though
01:55 GargantuaSauce_ the f4 has all the grunt i'd need to do an iterative solution so i am a little tempted to give that a shot
01:58 MrCurious so you could have each joint grow a random amount between 2 and 4 cm
01:58 MrCurious and find a happy gait?
01:59 GargantuaSauce_ well the gait wouldn't have to change, that is just what the ik can handle
02:01 GargantuaSauce_ next three things to do are make a frame that isnt garbage, write a wireless protocol that is more sophisticated than just jamming four floats from the controller's sticks into a packet, and add some rotary encoders to the controller so i can make fine adjustments to various parameters
02:05 GargantuaSauce_ oh shit i should go to bed
02:06 GargantuaSauce_ i got an email this evening saying a project i worked on a year ago is going to be demoed for potential continued funding tomorrow and they can't get it working
02:07 GargantuaSauce_ so i get to go see how badly they fucked it up in my absence and fix it within about 3 hours
07:01 rue_bed GargantuaSauce_, I was working on a path editor when I discovered BVH files
07:02 rue_bed but I couldn't find a properly workign bvh library, so I wrote one
07:02 GargantuaSauce_ for motion constraints?
07:02 rue_bed bvh are good for canned actions
07:02 GargantuaSauce_ spatial partitioning is so ridiculously powerful
07:03 rue_bed I was gonna use the format in a realtime way
07:03 GargantuaSauce_ oh bvh animation, was thinking bounding volume hierarchy
07:03 rue_bed yea
07:03 rue_bed my hexapod goal is realtime kinematiccs
07:04 rue_bed I have a way of doing it thats better
07:04 rue_bed but my test platform isn't finished yet
07:05 GargantuaSauce_ i am beginning to think of something wonky like following bezier curves in four dimensions
07:05 GargantuaSauce_ got other fish to fry before i do crazy motion control anyway
07:06 GargantuaSauce_ anyhoo gotta run
07:06 rue_bed I dont want to tell my way casue I want to be the first to try it
07:07 GargantuaSauce_ good way to kill an idea bro :V
07:07 Jak_o_Android Uh, blender uses bvh somewhere
07:07 GargantuaSauce_ ya its a pervasive format
07:07 rue_bed it works great in simulation
07:07 rue_bed yea, I can use the same software to simulate the bot as to do canned cycles
07:07 rue_bed I'm happy to share my C bvh library
07:08 Jak_o_Android I should do some smoothing in the blender part of my robot arm controller
07:10 rue_bed http://www.youtube.com/watch?v=TrR8moC3qbA
07:10 rue_bed I was playing with downloaded files
07:10 rue_bed I need to make a definition for my hexapod yet
07:14 jennie http://www.mirror.co.uk/news/world-news/roman-pirozek-jr-lad-killed-2254867
07:15 Jak_o_Android I need to find a good video editing program
12:31 MrCurious got it fixed yet?
16:17 robotustra shalom
18:12 GuShH robotustra: russian AND jewish?
18:16 robotustra all belarusian are ethnic jewishs
18:16 robotustra but they don't beleive in it
18:16 GuShH you damn jews!
18:17 robotustra yes may be
18:17 robotustra may be no
18:17 GuShH damn ya'll!
18:17 robotustra I'm not sure
18:17 GuShH if you don't know, who knows?
18:17 robotustra I have blue eyes
18:17 GuShH got a trimmed willie and a tiny hat?
18:17 robotustra no
18:17 KongfuPanda GuShH !! my dear friend
18:18 KongfuPanda did you know I speak Russian?
18:18 GuShH robotustra: got curls on a hat?
18:18 GuShH KongfuPanda: niet
18:18 robotustra да ну нафиг
18:18 GuShH did you know I speak Spanish?
18:18 KongfuPanda Та ты шо !?
18:18 KongfuPanda si? que tal?
18:18 GuShH All I get are weird symbols
18:18 robotustra это ж ня руски
18:18 KongfuPanda He estudie Espanol en escuela
18:18 KongfuPanda hace mucho tiempo
18:18 GuShH Italian, Portuguese?
18:19 GuShH KongfuPanda: error
18:19 KongfuPanda GuShH, vale vale
18:19 GuShH Yo estudi Espaol en la escuela.
18:19 GuShH vale is something drunk square heads from Spain say
18:19 GuShH So, most of Spain.
18:20 KongfuPanda GuShH, si si, senior
18:20 KongfuPanda GuShH, how do you know SPanish?
18:20 GuShH It's my native tongue
18:20 KongfuPanda GuShH, SIIIIIIIII?
18:20 KongfuPanda GuShH, are you from Spain or Mexico?
18:20 GuShH Neither
18:20 KongfuPanda GuShH, do you know Consuela from Family Guy?
18:20 KongfuPanda she's funny
18:20 GuShH Of course
18:20 GuShH It's a classic Mexican stereotype
18:21 KongfuPanda I learned a lot from her
18:21 GuShH how can I not love it, I make fun of Mexicans all day long.
18:21 GuShH Noooooo
18:21 GuShH No. Nooo.
18:21 GuShH That's all you can possibly learn.
18:21 KongfuPanda muchoes toros, muchos toros, aj jaj aj-ja-ja-jaj
18:21 KongfuPanda we need more lemon pledge
18:21 GuShH lo
18:21 GuShH l
18:22 GuShH Starwars episode where the darth vader buys the house brand instead of windex... funny
18:22 KongfuPanda haha
18:22 KongfuPanda it will leave film
18:22 GuShH I don't care!
18:23 KongfuPanda noo noo
18:23 KongfuPanda I have no money
18:24 GuShH Nobody here owns a cheap TIG?
18:24 GuShH I have my theories about converting to AC with variable frequency (basically variable PWM output, which already is there...)
18:29 KongfuPanda GuShH, what's a TIG?
18:30 MrCurious the wonderful thing about tiggers is tiggers are wonderful things?
18:31 KongfuPanda oh, a trigger
18:35 GuShH huh?
18:41 MrCurious or a TIG welder
18:41 MrCurious for aluminum?
18:58 MrCurious tanerite on cnn
18:58 MrCurious oh my
18:59 robotustra switch it off
18:59 robotustra you promiced me not to watch TV
18:59 robotustra it makes you sick
19:00 MrCurious its off the shelf high explosives that apparently is over the counter without license
19:00 MrCurious amonium nitrate and aluminum powder
19:04 GuShH cool
19:04 GuShH you should go buy some anfo
19:04 GuShH then kill some mofo with it.
19:07 rue_house I have a new tooth cap
19:07 rue_house can I vegitate now?
19:08 MrCurious a crown?
19:08 GuShH vegemite?
19:08 rue_house yea
19:08 rue_house I think its ceramic
19:08 MrCurious vevgamite is da bomb!
19:08 MrCurious vegamite
19:08 GuShH vagimite?
19:08 GuShH by Dremel
19:08 MrCurious vagimites are bad...
19:09 GuShH I was picturing a dremel tool with a tampon or some cleaning bit.
19:09 ShH bl
19:09 GuShH (their small dremel is called "mite")
19:09 GuShH or mini-mite
19:09 GuShH I guess you could use the vagimite to erradicate the vagimites.
23:27 rue_shop2 I just realized I need 13 of those motor drivers I designed
23:27 rue_shop2 the problem is going to be powersupply tho
23:28 rue_shop2 need to put more work into modifying PC power supplies
23:30 GargantuaSauce_ for driving what?
23:31 rue_shop2 motors
23:31 theBear pfft, obviously :)
23:31 rue_shop2 I want toplay with the driver I made for a while beofre I produce a boatload of them
23:32 rue_shop2 the first problem is that the flyback protector diodes lift the power rails excessivly
23:40 rue_shop2 supper?
23:40 rue_shop2 whats wrong with supper?
23:40 rue_shop2 what supper?
23:40 rue_shop2 oh!
23:40 theBear it's foreign, it sounds too much like something with noodles and toast
23:41 rue_shop2 noodles and toast? thats crazy, those dont go togethor
23:41 theBear yeah, which is why supper is a stupid name for dinner
23:41 theBear OR lunch
23:41 theBear actually they kinda do
23:42 theBear like, chinese noodles with a strong broth and toast
23:55 MrCurious rue_shop2: any cravings for blood?