#robotics Logs
Dec 06 2015
#robotics Calendar
00:21 Jak_o_Shadows that thing where your stress calcs are only valid away from the force location?
00:37 anonnumberanon Should I make a USBtinyISP ?
00:38 anonnumberanon I have all I need.
00:38 anonnumberanon To make one.
00:52 rue_house anonnumberanon, make any progress with my library?
00:53 anonnumberanon rue_house, I was thinking of giving it a try. Can I start sending arduino serial.print to make it easier and write the receiving software on the PC using your functions?
00:56 anonnumberanon I'll see if i can retrieve that cod eyou posted to send serial stuff.
00:57 anonnumberanon from logs
01:12 anonnumberanon Is this some checksum? b1 = (value >> 8) & (channel << 3);
01:12 anonnumberanon b1 = (value >> 8) & (channel << 3);
01:13 anonnumberanon From:
01:13 anonnumberanon sendPos(unsigned char channel, unsigned int value) {
01:13 anonnumberanon unsigned char b1, b2;
01:13 anonnumberanon value &= 0x3F;
01:13 anonnumberanon channel &= 0x0F;
01:13 anonnumberanon b2 = (value & b01111111) | b10000000 ;
01:13 anonnumberanon b1 = (value >> 8) & (channel << 3);
01:13 anonnumberanon
01:13 anonnumberanon send(b1);
01:13 anonnumberanon send(b2);
01:13 anonnumberanon }
01:17 anonnumberanon
01:17 anonnumberanon #include "returnValues.h"
01:17 anonnumberanon I don't have that file.
01:49 akem no robots or pinoch in Alice in wonderland iirc
01:50 akem but 1 or 2 in wizard of oz, that is 2 if we count scarecrow as a pinoch like entity
01:51 akem now whats the name of the robot....
02:02 anonnumberanon ugh.. i hate operating systems
02:02 anonnumberanon 75% waste of time using a computer
02:14 akem my 2 arduino boards are doing well with my android tablet gentlemen
02:15 akem cheap mpman but doing well
02:15 anonnumberanon Good man. What else you got?
02:16 akem arduinodroid is fine just the integrated code editor is laggy here
02:16 akem anonnumberanon not much, got my steppers also, but they are too slow
02:17 akem few rpm per minute max
02:17 anonnumberanon Got leds? piezo speakers?
02:17 akem impractical, but i could still try a simple sentry gun
02:17 anonnumberanon Potentiometer?
02:17 akem yea
02:18 akem no knob i think sadly, gotta double check
02:18 anonnumberanon got a camera for the sentry gun?
02:18 anonnumberanon yeah you need a knob one
02:18 akem the tablet one
02:18 anonnumberanon one of those that's 7 centimeters long, it's really nice to user.
02:19 anonnumberanon akem, oh i see you are able to hook up all that stuff?
02:20 akem anonnumberanon serial data, thats why i was looking at fermata, tablet get picture, process it and arduino just rotate the motors and trigger, but its just proof of concept because far too slow 28byj48
02:22 akem anonumberanon 9" tablet, yea doing fine, did not tried fermata or other serial communication, just uploading normal standalone C programs
02:22 anonnumberanon I got servos and I can tell you they're great for this type of work.
02:23 anonnumberanon If only I could gather the courage to check my wiring cause the robot's knee is not connected.
02:23 akem anonnumberanon you use arduino?
02:23 anonnumberanon Yeah.
02:23 akem yea im looking towards servos now, but also faster steppers
02:24 anonnumberanon Why? Steppers are very expensive and for 3d printers.
02:24 anonnumberanon cnc
02:24 akem anonumberanon how many servos you can control max with one standard board?
02:25 anonnumberanon like 6 with arduino code and 17 with non-Arduino code
02:26 akem anonumberanon maybe ill stick to servos only who knows, but steppers you can go very slowly, and turn 360 also,...
02:29 akem non-arduino code? just the raw board, normal uno you got 13 digital output pins, if you use only theses anyway
02:29 akem i can connect only 3 steppers at once
02:29 akem 4 wires per motors...
02:30 anonnumberanon you can use the analog pins as digital pins too
02:30 akem usualy servos are 2 only
02:30 anonnumberanon 2 what?
02:30 akem 2 wires connected
02:30 akem i see
02:31 akem i did not look at them yet
02:31 anonnumberanon nah the servo just needs signal and ground with power going straight to the 5V battery
02:31 anonnumberanon have the same ground for the battery, the microcontroller, and all the servos
02:31 akem was having troubles to get backward and forward sequence
02:32 anonnumberanon How so ?
02:32 akem so 1 wire only for control?
02:32 anonnumberanon yes
02:33 akem cool
02:33 akem much better i got to get some of them
02:34 anonnumberanon Do you have a gun for it yet?
02:35 anonnumberanon You could just use a laser for the beginning.
02:36 akem for the stepper sequence, i wasn't used to it data:image/jpeg;base64,/9j/4AAQSkZJRgABAQAAAQABAAD/2wCEAAkGBxQSEBQUExQWFRUXGBgZFhcXFBUXGBgYGBgWGBUeFRUcHygiGBolHBcXIjEhJSkrLi4uFx8zODQsNygtLi0BCgoKDg0OGxAQGi8iHCYwLC84NjQsLDUsLCwrNTcsLCwtMDIvLjQuLC8rLDY3LCwsLCwwLDQ3LCwsNCwsLCwsLv/AABEIAMoA+QMBIgACEQEDEQH/xAAcAAACAgMBAQAAAAAAAAAAAAAABQQGAQIDBwj/xABQEAACAQMCAgUGCAgMBQQDAAABAgMABBESIQUxBhMiQVEVU2Fxk9EUFiMygZGU0zM1UlRzdLPSJDRCVZKhsbK0wdTwB0NEYnIlY4LhF6Lx
02:36 akem ho sorry
02:37 akem yea just with a laser, for calibration and target pointing
02:37 anonnumberanon for servos if you don't have much money i recommend this http://www.ebay.com/itm/1Pcs-MG995-High-Speed-Metal-Gear-Servo-For-RC-Car-Boat-Helicopter-/181765736432?hash=item2a521507f0:g:hn0AAOSwl8NVcEoV
02:43 anonnumberanon That's kinda what I have to do now. Sequencing servo positions.
02:46 akem anonnumberanon for your humanoid robot project?
02:49 akem must look around my place in the real world if there are robotics hobbyists also...
02:57 akem anyway i want relay also
02:58 akem so i could have a tiny preprog timer box switch
02:58 akem you dont find this in shops
02:59 akem usually your limited to https://upload.wikimedia.org/wikipedia/commons/0/0b/Time_switch.JPG
03:00 akem about 10 minutes minimum intervals for a day on/off
03:02 akem i though atmel mega328p was 128bits and quad core, but then i remember ohh raspberry
03:05 anonnumberanon yeah my biped humaoid man
03:06 anonnumberanon but yeah with the atmega328 you can measure time up to 50 days with any timers you want to do. use a transistor to turn on and off any device you want, and connect a digital pin to the third leg of the transistor
03:06 akem like the 'robo one' contest?
03:06 anonnumberanon they are called MOSFETs
03:06 anonnumberanon Yeah I'm trying to make this combat-tough.
03:06 akem nice
03:06 anonnumberanon To fight it hopefully someday, maybe vs a Japanese geek.
03:07 akem some of them are awesome
03:07 anonnumberanon I'm a big fan heh
03:07 anonnumberanon I'm discovering slowly the pain they all go through to build them..
03:08 akem i would go for cool little animatronics doing crazy stuff with noise gizmo or pokemon like
03:09 akem yea must be, i though it would be more complicated to get up on the feet but they do fine with different techs
03:10 anonnumberanon I'll need to print it a body cause right now it's bare metal and motors.
03:10 akem got a 3d printer already?
03:11 anonnumberanon i wish
03:12 akem ask one @ kukpa he has so many he can't deal with that, possibly they are replicating themselves in his back
03:15 akem i would print a bender in 3d and stick few motors and LEDs, just decorative, wouldnt fight
03:23 anonnumberanon why no fight, you just like cute things?
03:23 anonnumberanon like cats?
03:24 akem when you see robo one they also have obstacles runs etc then asimo is getting even smaller, i think he can't stand up by himself if he fall down? maybe now he can
03:25 akem cause its much more complicated, yes i love cute things, i am a cute thing
03:26 anonnumberanon did u see my bot?
03:26 akem dont think so
03:29 anonnumberanon .iovid: https://u.teknik.io/HLswY1.avi
03:29 anonnumberanon .io
03:30 akem a fighting robot is vanga the black wheeled spider, i d like this sort of things, you know snake robots, or others
03:33 akem anonnumberanon nice
03:33 anonnumberanon :)
03:34 akem sort of turtles quadrupeds hiding their legs, robo one is only bipeds, there is mech warfare
03:35 akem so you got the 2 legs functionnal atm?
03:35 akem but mech wRf
03:36 akem they are too slow, i find it no so entertainning to watch, except for the robots themselves, they have airsofts mounted on the bots
03:40 anonnumberanon This was a while ago when I was controlling just one leg through only one motor.
03:40 anonnumberanon Now I have both legs connected.
03:41 anonnumberanon But it s not wotking yet.
03:46 veverak deshipu: devconf.cz february ?
03:57 anonnumberanon first servo failure
03:57 anonnumberanon upper case, like planned
04:08 deshipu veverak: nope, I have a local python conference here at the same time
04:14 veverak ok
12:50 maiden hello
12:57 adam789654123 hello maiden
13:00 maiden oh, there is activity :D
13:00 adam789654123 yea
13:00 adam789654123 ill be out in a few minutes
13:01 adam789654123 but i figured to say hello at least
13:01 adam789654123 :)
13:01 adam789654123 there are people that frequent here though
13:10 robotust1a activity detected
13:10 robotust1a assembled wall bed finally
13:10 robotust1a spent 2 full days
13:11 maiden wall bed? to sleep on? or a machine part?
13:11 robotust1a http://i.imgur.com/2txZ8gw.jpg
13:12 robotust1a the bed which is folded in the wadrobe
13:42 flufferfish tutorialfollower
13:42 flufferfish oops
13:44 maiden robotust1a, sweet :D
13:45 maiden my dad built something similar several years ago, but not as goodlooking as that one ;)
14:10 robotust1a maiden: and now I have my lab
14:11 robotust1a maiden: http://i.imgur.com/76Ay4UG.jpg
14:11 robotust1a http://i.imgur.com/tpqMzdZ.jpg
14:12 maiden oho
14:12 maiden bio/chem lab or just painting/3d/cnc printing box?
14:13 robotust1a robot lab
14:13 robotust1a cnc, 3d printing, electronics
14:13 maiden i mean the big wooden box
14:13 robotust1a etc
14:13 robotust1a it's robot's base
14:13 robotust1a or at the wall?
14:13 robotust1a it's cnc mill
14:13 maiden yes with the window
14:13 maiden aha, sweet :D
14:14 maiden reminds me a bit about a ROLAND printer i used
14:14 robotust1a soundproof box
14:14 maiden sweet
14:14 maiden I am currently adding TCP communication to my simulator
14:15 robotust1a I'm fitting the hole of the front panel of robot
14:16 maiden waiting for some load-cells so i can replicate this: http://www.jsk.t.u-tokyo.ac.jp/~report/proceeding02/icra02/nishiwaki_forcesensor.pdf
14:17 maiden sweet
14:19 robotust1a 6 axis?
14:20 robotust1a for robot legs?
14:22 maiden n. In this
14:22 maiden paper, let forward, leftward, and upward direction be x, y ,and z direction respectively. Also let rotational
14:22 maiden force around each axis be Mx; My ; Mz
14:23 maiden so each foot got a sensor where you get the force and torque in x, y and z
14:23 robotust1a you mean force momenta?
14:23 maiden torque might not be the correct word?
14:24 Hyratel maiden, you've got both linear and rotational forces
14:24 maiden yes
14:24 maiden exactly
14:24 Hyratel and rotational forces are called torque
14:24 robotust1a the same dimensions [RxF]
14:25 Hyratel robotust1a, what
14:25 robotust1a [Radius x Force] = Torque
14:26 robotust1a Newtons x Meters
14:26 Hyratel yes, and?
14:26 Hyratel you're saying things without putting them into a statement
14:26 robotust1a It's called also Momentum
14:26 robotust1a angular momentum
14:26 Hyratel no, it's only momentum if it's a kinetic force
14:26 Hyratel Force vs Work
14:26 Hyratel it's not Work
14:26 Hyratel it's only Force
14:27 maiden its a jedi!
14:27 maiden sorry, watching starwars in the background, could not resist :p
14:27 Hyratel heh
14:28 maiden anyway, the sensor measures force in x, y and z in the edges of the foot, then you can calculate the torque on the ankle based on that, right?
14:28 Hyratel yes
14:29 Hyratel knowing the location of the ankle relative to the sensors
14:29 robotust1a ok, it's torque
14:29 Hyratel relevant http://hackaday.com/2015/12/03/an-introduction-to-series-elastic-actuators-for-a-robot/
14:29 veverak this is bad
14:29 veverak I don't have a name
14:30 veverak for robot
14:30 veverak :/
14:30 robopal X.2015
14:31 robopal you can name it later
14:31 robotust1a btw, The name for robot is a good questio
14:35 maiden Hyratel, saw it, thinking of adopting the design, but with stiffer metal springs
14:36 Hyratel maiden, yeah
14:36 Hyratel the principles are good. the execution is lackluster
14:36 maiden Hyratel, no its just for prototyping
14:36 robotust1a but this actuator is TOO UGLY
14:37 maiden there is no lower limit for gettoness when prototyping, quick and dirty ftw
14:37 robotust1a I think pepole have very distant idea about nice things
14:37 cyber37 hi guy's,
14:37 cyber37 Did someone know the kg/cm and rpm of a basical wiper motor ?
14:38 cyber37 I need this information for compare the motors that i find on ebay
14:39 maiden are you the one posting on g+ about a wiper pcb?
14:43 robotust1a this guy spend too much plastic on his experiments
14:43 robotust1a imho
14:45 robotust1a but anyway, the explained about elastic actuator is good
14:51 maiden robotust1a, yea, but lulbotz are paying him for it ;)
14:51 robotust1a maiden: what type of walking are you going to do? Zero momentum or dynamic walking?
14:52 robotust1a ok if so
14:53 maiden robotust1a: one of the following http://www.cs.cmu.edu/~cga/walking/grad.html
15:11 robotust1a but have you already decided which one?
15:39 maiden nope
15:39 maiden will try out some different approaches, thats why i am building a simulator
15:40 maiden to faster/easier evaluate different approaches
15:40 maiden but simulated != real.. so results will probably vary alot irl from my simulations
15:43 robotust1a https://www.youtube.com/watch?v=tj7al6MXu7U
15:43 robotust1a building simulator?
15:43 robotust1a program or hardware?
16:33 maiden oho http://www.ais.uni-bonn.de/papers/Humanoids_2015_Allgeuer.pdf
16:34 maiden robotust1a: https://www.youtube.com/watch?v=i4ivKcSDbz0
16:38 maiden this was sweet: https://github.com/AIS-Bonn/humanoid_op_ros/tree/master/src/nimbro/tools/trajectory_editor_2
16:39 maiden as seen in this paper http://www.ais.uni-bonn.de/papers/Humanoids_2015_Allgeuer.pdf
16:41 maiden or rather see this: http://imagebin.ca/v/2P3nrtX3WTIG
16:49 robotust1a ok
16:50 robotust1a now you can make your own model of muscles?
16:51 robotust1a I read somewere that to make human-like giat it's neede only 8 muscles per leg
17:05 SpeedEvil I guess that depends what you mean by that
17:06 SpeedEvil I think to get human-like over varied terrain, you need _way_ more
17:08 Hyratel yeah
17:08 Hyratel flat surface is way different than anything with lateral features
17:09 Hyratel you need time-of-contact terrain slope, traction, yeild detection
17:09 Hyratel heck, just making a fast computer for that would be worthwhile
17:54 robotust1a of cause it was flat surface walking
17:58 robotust1a that's why I'm making wheeled base
17:58 robotust1a just tested it with load
17:58 robotust1a 4 led batterits 12V 18AH
17:59 orlock sla batteries you mean?
17:59 robotust1a the base move easily
18:00 robotust1a total weight may be 20-25 kg
18:00 robotust1a of 4 bateries
18:01 robotust1a orlock: yes SLA batteries
18:02 robotust1a 2 like this http://i.ebayimg.com/00/s/MTU5NVgxNjAw/z/NNAAAOxyKh5R~xaV/$T2eC16J,!ygE9s7HHoBZBR+),VO(-!~~60_3.jpg
18:03 robotust1a and 2 of similar weight but different shape
18:04 robotust1a it means, that my timing belt transmition is OKEY :)
18:13 Hyratel lead, not led
18:14 robotust1a yeah
18:14 robotust1a lead
18:14 robotust1a Plumbum
18:15 robotust1a I was worry that the base could not be able to move about 30-40 kg robot
18:15 robotust1a on flat surface
18:58 JA5H hello
18:58 robotust1a hi
19:03 JA5H I'm building a robot. I'm programing it with c++ and python on an NVIDIA Jetson TK1 and RPI2
19:03 robotust1a ok
19:03 robotust1a show me your robot
19:03 robotust1a show US your robot
19:04 JA5H I dont have pictures yet, I am going to tear it apart and make v2 of the frame next week
19:05 robotust1a ok
19:05 robotust1a how big is it?
19:05 JA5H 2'x2'
19:05 robotust1a flat?
19:05 robotust1a what is the height?
19:06 JA5H 2'high 2'wide 5-6" deep
19:06 robotust1a how many degrees of freedom?
19:06 JA5H It is a robot Mirror
19:06 robotust1a ok
19:07 robotust1a what does it? just reflect?
19:07 robotust1a how many wheels?
19:07 robotust1a legs?
19:08 JA5H it just hangs on a wall and 64 mirrors move based upon scene detection
19:08 robotust1a ok
19:08 JA5H 128 micro servos took a while to wire
19:08 robotust1a each mirror rotates on 2 axii?
19:08 robotust1a ok
19:08 robotust1a good
19:08 JA5H pan tilt, no rotate
19:09 JA5H I 3d printed the gimbals
19:09 robotust1a but why do you need 2 servo per mirror?
19:10 JA5H 1 pan 1 tilt
19:10 JA5H can you tell me how to do it with less?
19:10 robotust1a oh, I got sorry
19:11 JA5H damn, i thought you were going to tell me how i can cut costs in half
19:12 robotust1a make a smaller mirror?
19:12 robotust1a 32x32
19:12 robotust1a for example
19:12 JA5H it is 8x8
19:12 robotust1a ah
19:12 JA5H 64 total
19:12 robotust1a yes
19:12 robotust1a I mean 6x6
19:12 JA5H 64x64 would be cool
19:12 JA5H !!!
19:13 robotust1a do your tilt is fixed?
19:13 JA5H I have presold it, just
19:13 JA5H need to make its reaction time faster
19:14 robotust1a how fast are they now?
19:14 JA5H no, pan and tilt are variable
19:14 robotust1a for instance you can make a trick
19:14 robotust1a you can make 1 servo moving 2 mirrirs
19:15 robotust1a in a line for instance
19:15 JA5H the servos are fast, but the RPI2 cant process opencv facial detection fast enough.
19:15 JA5H oh, no all the sservos must operate independently
19:15 robotust1a that's why I throw Open CV far far away
19:16 robotust1a so you can rewrite OpenCV by yourown
19:16 robotust1a at least face detection part
19:16 robotust1a what camera do you use?
19:16 JA5H really? it works well on the Nvidia Jetson 3-10 frames per sec
19:16 robotust1a the delay could be in camera also, if it's JPEG camera
19:17 JA5H I use a genius widecam... usb2
19:17 robotust1a too slow
19:17 JA5H what would you recommend?
19:17 robotust1a use usual camera with low resolution it can give you 20-30 FPS
19:18 JA5H im not using low resolution
19:18 robotust1a any cheap chinise webcam could de better
19:18 robotust1a that's your problem
19:18 robotust1a but why do you need HIGH resolution?
19:18 robotust1a what for? to detect face only?
19:19 JA5H i think the webcam defaults into 640.480
19:19 JA5H I use the cropped region from infront of the mirror
19:20 robotust1a there is a RP camera
19:20 robotust1a Ithink it can give you more FPS
19:22 JA5H Since I tasked the TK1 to face detection and the RPI to servo control it appears to be fast enough. I just have to cat5 them together then i can test this new code tomorrow
19:26 robotust1a 1 Gb ethernet?
19:45 JA5H whatever the rpi and tk1 have on them will be fast enough
19:46 JA5H im only sending a 4 char string to the pi whenever a face is located