#robotics Logs

Jul 04 2014

01:14 rue_house open my ass
09:40 GuShh_Lap rue_house: I hope it isn't that open.
09:43 GuShh_Lap https://www.youtube.com/watch?v=wAQgB1VGDIY
10:55 Tom_itx changed topic of #robotics to: Mechanical Electrical Programming and Psychology | http://tom-itx.ddns01.com:81/~webpage/index.php | STAY AROUND TO GET AN ANSWER! TIMEZONES YA KNOW!
16:15 Curious drops a
16:16 deshipu boom!
16:17 deshipu today was a slow day, I only added an audio amp and a speaker to my robot
16:17 deshipu tested it on some portal turret lines
16:17 MrCurious sounds like a triumph
16:17 MrCurious huge success!
16:18 MrCurious (portal song)
16:18 deshipu it's hard to overstate my satisfaction
16:19 deshipu I have the basic creep gait and leg IK
16:19 deshipu but I wonder how I should approach turning
16:19 deshipu I suppose it involves moving the legs in arcs?
16:20 MrCurious reverse the gait on 2 of the legs
16:20 deshipu I don't want any slipping
16:21 deshipu I should probably do full-body IK first
16:22 deshipu with twisting and such
16:23 GargantuaSauce can you walk sideways?
16:23 GargantuaSauce the way i do walking is each leg just has a vector along which it steps
16:24 GargantuaSauce so turning is just a question of those vectors all being perpendicular to the vector from the centre of mass to the hip
16:25 deshipu hmm, doesn't it make some of the legs slip?
16:25 deshipu when their vectors don't align and they move with the feet down?
16:25 GargantuaSauce i guess for it to be 100% perfect it has to follow an arc instead of a line but they're far enough out that it doesn't make a huge difference i think
16:26 deshipu my robot has very short legs XD
16:27 deshipu I suppose I will try that first
16:27 deshipu and try to improve on it later
16:27 deshipu thank you
16:28 GargantuaSauce also yeah if you have ik for each foot, extending that to the whole body is super easy
16:28 deshipu is it?
16:28 deshipu I mean, just shifting the body is easy -- I already do it for the balancing
16:28 GargantuaSauce yeah put the feet on a plane and transform it by the inverse of the transformation you want to apply to the body
16:28 deshipu but twisting it along different axes...
16:29 Tom_itx any of you use a MS Surface?
16:29 deshipu Tom_itx: that would run windows, eek
16:29 GargantuaSauce :)
16:30 deshipu GargantuaSauce: that sounds suspiciously like linear algebra again :/
16:30 GargantuaSauce there's kind of a lot of that in this business
16:30 deshipu ouch
16:30 deshipu I was hoping to somehow trig my way out of it
16:32 GargantuaSauce if you can stomach my kinematics code it's here https://bitbucket.org/Ultrasauce/robots/src/038d0641f7eba422b03b3f1293c8cf4d02a75405/pc/sim_old/IKWalker.cpp?at=master
16:32 deshipu thank you, anything helps
16:33 deshipu shaders? O.o
16:33 deshipu aah, you render it on the screen
16:33 GargantuaSauce yeah this is a pc application
16:34 GargantuaSauce ah and i guess this is after i fucked with it to support 4dof badly
16:34 GargantuaSauce ie no tilting supported
16:34 GargantuaSauce https://bitbucket.org/Ultrasauce/robots/src/038d0641f7eba422b03b3f1293c8cf4d02a75405/stm32/hexapod/walker.c?at=master
16:35 GargantuaSauce there's the onboard version that did 3dof
16:36 GargantuaSauce (which is basically the same code)
16:38 GargantuaSauce aaaand that actually is 4dof also. durr
16:38 GargantuaSauce https://bitbucket.org/Ultrasauce/robots/src/1437ed284042/stm32/hexapod/walker.c there's before i made those changes
16:38 deshipu thank you, I will analyze them tomorrow, it's too late today already
16:39 deshipu by the way, how come the leg segments have names, but the joints don't
16:39 deshipu in insects, I mean
16:39 deshipu we have hips, knees, ankles...
16:40 GargantuaSauce because natural language is dumb
16:41 GargantuaSauce and i definitely won't claim the nomenclature in my code is sane either
16:41 deshipu it would be nice to be able to read/write code without having to draw a picture each time
16:42 deshipu although being able to embed pictures in comments would be awesome :)
16:43 GargantuaSauce i keep meaning to make some sort of content management system that allows code to be linked to cad files and photos
16:43 GargantuaSauce in the meantime i just have a whiteboard above my computer
16:45 deshipu one of the goals of making my robot is to later make a talk about how I made it and what I learned
16:45 deshipu so I always look for the best way to explain whatever I'm learning
16:46 MrCurious i just saw a Brazzillian happy people
16:47 Tom_itx who are you gonna talk to about it to?
16:47 GuShH MrCurious: see how corrupt brazil is?
16:47 deshipu Tom_itx: python programmers
16:47 Tom_itx MrCurious you just saw a Bazallion happy people?
16:47 GuShH they won because they bought the match.
16:47 MrCurious refs seem to be ignoring a shit load
16:47 GuShH this ref was paid for
16:48 GuShH it's so obvious it becomes more than pathetic.
16:48 m_itx buys off GuShH to keep quite about the pa
16:48 ShH eats the co
16:49 GuShH Mhhh corruption tastes good
16:49 MrCurious are bribes taxable or tax deductable in Brazil?
16:50 Tom_itx according to the US internal revenue it depends what party you affiliate with
16:50 GuShH and the accident yesterday... the whole bridge fell down... and prior to that, the daughter of one of our journalists got killed on the road... she was heading to a surprise birthday party for her dad... these guys are monkeys.
16:50 GuShH and they are. their idea of a university is to study "football"
16:51 GuShH I shit you not, they have football "universities"
16:51 GargantuaSauce also good luck deciphering my crap if you don't like linear algebra deshipu :/
16:51 GargantuaSauce http://i.imgur.com/9UzDTpB.png
16:51 deshipu GargantuaSauce: it's not like I didn't like it, it's juts have been 15 years since the university
16:52 ShH wishes brass and bronze were che
16:52 deshipu GargantuaSauce: but I should manage simple matrix multiplication and coordinate system changes
16:52 deshipu GuShH: they are cheaper than ever
16:53 GuShH no.
16:53 GuShH not cheaper than alu
16:53 MrCurious i want to see some damn red cards
16:53 GuShH perhaps where you live thanks to chinky imports they are cheaper
16:53 GuShH but good luck on alloy quality
16:53 deshipu GuShH: they were really expensive in the bronze age, for example
16:53 GuShH MrCurious: I'm sick of it
16:53 GuShH deshipu: haw haw
16:55 GuShH deshipu: try buying aluminum bronze for instance, tell me how you like the price.
16:56 GuShH in this century.
16:56 m_itx uses a bar of aluminum bronze for a counterwe
16:56 deshipu GuShH: can't you just melt coins? :)
16:57 GuShH nope
16:57 GuShH MrCurious: hey at least colombia scored one...
16:57 GuShH I really wanted them to win
16:57 deshipu Tom_itx: lead wouldn't be cheaper?
16:58 deshipu and smaller
16:58 GuShH Tom_itx: turn it into something nicer!
16:58 Tom_itx tungsten is heavier yet
16:58 Tom_itx and yes i have some of all 3
16:58 MrCurious nice
16:59 Tom_itx we used to machine tungsten
16:59 Tom_itx wing balast for planes
16:59 shipu has no idea how it even looks
16:59 ShH wishes Tom_itx would agree with my pricing disagreem
16:59 m_itx agrees to disagree and remains neu
17:00 GuShH :<
17:00 Tom_itx i gotta run to the store.
17:00 deshipu materials are extra cheap comprared to the last 4000 years, really
17:00 Tom_itx bak latr
17:00 deshipu it's great time to live
17:00 GuShH That only means you have a secret admirer giving you free bar stock.
17:00 GuShH who cares deshipu.
17:01 deshipu I do
17:01 GuShH deshipu: not really, not long ago with a single coin you could buy a meal, a gun and a hooker.
17:01 deshipu even 5 years ago I wouldn't be able to build a robot on such a budget
17:01 GuShH and to earn said coin all you had to do was shoot some asshole.
17:01 ShH throws a couple bits at des
17:01 GuShH dance.
17:02 deshipu pardon?
17:02 GuShH deshipu: maybe use the two bits to buy a sense of humor!
17:02 ShH tips
17:03 GuShH There are a few things I would rather make out of better materials, but meh.
17:03 MrCurious but what does one do with a meal, gun and a hooker
17:03 MrCurious force feed her?
17:03 GuShH brass in big diameters gets heavy real fast.
17:03 GuShH and you pay by weight.
17:03 GuShH MrCurious: hahaha
17:04 GuShH hey if you're into it.
17:04 deshipu into big diameters? O.o
17:04 GuShH different conversation.
17:05 deshipu why would you force feed her otherwise?
17:05 GuShH 1) brass rod 2) wild west
17:05 MrCurious columbia seems to play a bit dirty
17:05 GuShH colombia
17:05 deshipu MrCurious: it's a contact sport ;)
17:05 GuShH columbia is in the US isn't it
17:05 GuShH colombia is where a lot of cocaine comes from.
17:05 GuShH :p
17:06 MrCurious that could explain the speed and stamina :)
17:08 MrCurious bo your thinking of british coluumbia
17:08 MrCurious its above the us, and where the weed comes from
17:15 GuShH http://en.wikipedia.org/wiki/Columbia,_South_Carolina
17:15 GuShH dude you live in the US you should know.
17:15 GuShH Why do I have to know...
17:15 ShH had to study all kinds of countries and bullshit he didn't care a
17:16 GuShH I guess you guys just talked about how great you were.
17:16 botustra killed all
17:17 robotustra feel much better
17:18 GuShH robotustra: hopefully in a game
17:20 robotustra GuShH: not of cause, I bought a rifle went out to the street
17:21 robotustra and shoot all my bullets
17:21 robotustra planning to go out and buy more
17:21 GuShH that would be nice.
17:21 GuShH if you had a deathwish.
17:22 GuShH So... I need to make an internal grooving tool for these o-rings....
17:22 GuShH I made the external one out of an old drill bit
17:22 GuShH worked out great, internal is a bit more complicated maybe a shitty allen key will come to the rescue again
17:22 GuShH would have to "forge" one otherwise
17:25 robotustra GuShH: why do you need the engraving tool?
17:31 GuShH robotustra: grooving
17:31 GuShH cut internal o-ring groove
17:31 GuShH it's for a high pressure fitting I'm working on
17:31 GuShH well 1000psi or so for now