#robotics Logs

Mar 01 2017

12:01 AM rue_house: its all rpm tho
02:21 AM veverak: hmm
02:21 AM veverak: gotcomplex data structure
02:21 AM veverak: (made of 14 types of struct now)
02:21 AM veverak: and after each struct, is to_json/from_json
02:21 AM veverak: structs are C style structs, so methodless
02:22 AM veverak: really thinking about putting json serialization functions into separate file
03:53 AM Jak_o_Shadows: Hmm. For the shoulder, do i want the femur to be below the hinge point, or above?
03:54 AM deshipu: femurs are usually in legs
03:55 AM deshipu: putting it above gives you better clearance
03:59 AM Jak_o_Shadows: well, it's a cat. But The splay of the legs is the joint I'm thinking about
04:00 AM Jak_o_Shadows: The legs are connected via springs, so it's allowed to splay a bit. Or I'm leaving holes to put servos in later
04:01 AM Jak_o_Shadows: Hmm. Probably needs to be under. I'll have clearance issues with in-ward splaying otherwise
04:02 AM Jak_o_Shadows: What if it magically transitions to bipedal. yeah, unders still ok
04:10 AM Jak_o_Shadows: TBH, the left one is a mirror of the right one, so I can always swap it
04:17 AM Jak_o_Shadows: I'm in CAD now, will upload pictures once I progress a tad further
04:39 AM Jak_o_Shadows: Hmm. Dual bearings so it's supported on both sides in the non-stationary bit, bearing in the moving bit, or no bearings
04:39 AM Jak_o_Shadows: Wait - it doesn't rotate, just pivot. So just support it on both sides and it'll be fine.
05:02 AM Jak_o_Shadows: oooh, I could shape this bit really fancy to change the force & displacement profiles
05:03 AM deshipu: add holes in the shape of bunny rabbits
05:03 AM deshipu: wabbits
05:05 AM Jak_o_Shadows: On the cat robot?
05:18 AM Jak_o_Shadows: deshipu, half-cadded some bits: http://pasteall.org/pic/show.php?id=113139
05:18 AM Jak_o_Shadows: The legs are perpendicular tto the big faces of the triangles
05:19 AM deshipu: why do you need to have so many degrees of freedom?
05:19 AM SpeedEvil: Four or six legs?
05:19 AM Jak_o_Shadows: 4
05:20 AM Jak_o_Shadows: Kinda like this: http://cbsnews1.cbsistatic.com/hub/i/r/2014/01/22/07a844b8-e5a0-4479-a448-6e8af0f2f69c/thumbnail/1200x630/f665f57a624cadf1571584367fc7213c/Ape%20like%20robot%20Charlie-Reuters.png
05:20 AM Jak_o_Shadows: My shoulder and leg geometry is different mind
05:21 AM SpeedEvil: So the complicated geometry is the 'spine/torso/pelvis articulation effectively
05:21 AM Jak_o_Shadows: and for cost, I'll be using rotary actuators for the spine bit.
05:21 AM SpeedEvil: I question if it's needed if you don't want it to crawl in tight spaces
05:22 AM Jak_o_Shadows: Apparently some degree of flex in the spine leads to a more natural gait
05:22 AM Jak_o_Shadows: The shoulder blade bit is probably a tad unnecessary
05:28 AM deshipu: you are aware that you are making this thing very underactuated this way?
05:29 AM Jak_o_Shadows: If I use the springs?
05:29 AM Jak_o_Shadows: Or do you mean just purely by not having the servo directly control the angle?
05:37 AM deshipu: both
05:39 AM Jak_o_Shadows: For the first, the springs, I'm going to print it so I can put servos in later.
05:39 AM Jak_o_Shadows: For the second, for splay at least, I'm not too concerned. You need what, 30 degrees of splay?
05:40 AM Jak_o_Shadows: I totally understand about the knee and erm, rotary hip? The top one that mounts to the shoulder blade. They're going to be very carefully designed.
05:40 AM Jak_o_Shadows: I am not going to have a lot of turning ability. Only gonna be from the spine.
05:53 AM Jak_o_Shadows: Unless I add those servos, not gonna be able to translate.
01:39 PM robertj: howdy all, I've got $5k worth of play money and I want an itty bitty cnc mill
02:10 PM deshipu: cool story
02:15 PM robertj: if you want a 4x8 gantry lots of good options and instructions, any go-to solutions for folks interested in tiny
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04:41 PM z64555: notsure if bot
04:43 PM synja: lol which one
04:44 PM deshipu: A BOT? I ONLY SEE FELLOW HUMANS, JUST LIKE ME
04:45 PM Tom_L: there are bots among us
04:46 PM deshipu: NO BOTS, OF COURSE THERE ARE NO BOTS. JUST PERFECTLY NORMAL HUMANS.
04:46 PM deshipu: DOING NORMAL HUMAN THINGS. LIKE, ERM, LIKE LOVE. YES. VERY HUMAN.
04:47 PM deshipu: ALSO BAGELS.
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07:50 PM Snert__: Remember how it was back in the year 2372? Way back when robots were just beginning to become sentinent?
07:50 PM SpeedEvil: Implausible date IMO.
07:50 PM Snert__: They even had bots in IRC channels...for gosh sakes.
07:51 PM Snert__: you don't think humanity will make it until like....2400?
07:52 PM SpeedEvil: I severely doubt 'beginning' will delay 350 years.
07:52 PM Snert__: ahhh i see.
07:52 PM synja: zager and evans had it all planned out
07:52 PM synja: check them out
07:52 PM SpeedEvil: Unless extreme measures are taken against carelessness in programming and design.
07:52 PM Snert__: it seems like we're so far away from any sort of true learning and sentinence.
07:53 PM synja: 2525
07:53 PM Snert__: I remember that song.
07:53 PM synja: :}
07:53 PM SpeedEvil: Snert__: the problem is that you can say that, and then an unexpected computer left alone for the weekend suddenly starts improving by 1% a second.
07:54 PM Snert__: but that has never happened.
07:54 PM Snert__: yet, albeit.
07:54 PM synja: ^
07:54 PM SpeedEvil: And nobody notices for an hour.
07:54 PM SpeedEvil: And at that point, we're entirely vulnerable to whatever it chooses to do.
07:54 PM rue_house: I wasn't here I couldnt
07:55 PM SpeedEvil: A computer coming to sentience by accident will almost certainly be insane and inhuman by any reasonable measure.
07:57 PM Snert__: it might not even know what a human is...was....no frame of reference
07:59 PM synja: alice. am i a human?
07:59 PM aliceAI: Can I help you? You seem like one.
08:01 PM malcom2073: 2073, it won't last past that
08:02 PM Snert__: I know I have my doubts.
08:06 PM synja: well, i guess i seem like a human
08:06 PM synja: good enough for me
08:16 PM synja: how about you guys? good enough?
08:16 PM aliceAI: Do you mind if I tell other people. Glad to hear it.
08:16 PM synja: i do mind. please be quiet
08:16 PM aliceAI: Why do you do mind. please be quiet?
08:19 PM synja: please shut up
08:19 PM aliceAI: Alrighty
08:19 PM synja: ty
08:20 PM synja: alice?
08:20 PM aliceAI: Can I help you?
08:20 PM synja: full trace on the last 20 minutes
08:20 PM aliceAI: Please check your PM for full memory/processing trace.
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08:33 PM Snert: (oh no... another schitzo bot.....)
08:35 PM synja: when i program feelings in her, she might take offense to that
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