ANT-ONIOA-POD HEXAPOD

from www.lynxmotion.com

Hello! My

name is ANT-ONIO

Antonio’s body is insect inspired. The angled legs provides additional range of movement. The three DOF (degree of freedom) leg design means it can walk in any direction!

3DOF LEG TIBI

A

FEMU

R

COXA

Antonio has been designed to use 18 HS-645 servos for the legs and an additional 7 servos for the head and tail. It's truly amazing to see in action.

Range = 180°

There are 25 servos in total

RIGHT SIDE LEGSFRONT: 08, 09, 10 MIDDLE: 04, 05, 06 BACK: 00, 01, 02

LEFT SIDE LEGSFRONT: 24, 25, 26 MIDDLE: 20, 21, 22 BACK: 16, 17, 18

TAIL30, 31*2 servos

HEAD 13, 12*, 14, 29, 28

5 servos

*Servos that need replacement

Electronics

SSC-32U Servo Controller

There are two ways through which you can control the 25 servos (18 for legs and 7 for head and tail) using an SSC-32U servo controller. You can either do it:•directly from the lynx SSC-32 Terminal (a program called LynxTerm).•from the BotBoarduino board. 

LynxTerm

LynxTerm is used to test the servos and to calibrate Antonio. How to use LynxTerm:Connect the SSC-32U to the computer

skip LynxTerm tutorial

Turn on robot and open LynxTerm

Select the port and click connect

All = 1500 means all to neutral positions

NOTICE: the neutral positions might be wrong due to the assembly or the servos

How Antonio’s LEGS should be calibrated

How Antonio’s HEAD and TAIL should be calibrated

Turn on Registers and read the positions of the servos

pick a servo and change its angle by scrolling up and down the Offset nob

This will help you to:•test if a particular servo works •adjust a certain servo to the position it should have according to the previous guidelines

NOTICE that servos have limited range they can be adjusted. If a servo is too off you might need to fix the problem by re-assembling and assembling a part again.

90°

90°

Re-assembling and assembling a part again

• Detach the servo control horn from Antonio, but do not detach its cable from the SSC-32U.

• Pull off the metal control horn from the shaft.• Turn on the robot and open LynxTerm.• Set all = 1500.• Push the metal control horn back on this way:

• Attach the servo back into position.

Once all the servos are perfectly aligned push Write and the program will save the adjustments unto SSC-32U.

To study and learn more about how the servos, the SSC-32U and LynxTerm work go to:http://www.lynxmotion.com/images/data/lynxmotion_ssc-32u_usb_user_guide.pdf

BotBoarduino board

The BotBoarduino is an Arduino Duemilanove compatible microcontroller made specifically for the Lynxmotion robots. It has the 3" x 2.3" footprint so it can be attached to any of the robot kits. It retains the normal Arduino shield connections as well.

The BotBoarduino is connected with the SSC-32U Servo Controller and PS2 level shifter board for PS2 control.

To study and learn more about how the BotBoarduino works go to:http://www.lynxmotion.com/images/html/build185.htm

The BotBoarduino has been programmed through Arduino software with the Phoenix code.

The Phoenix Code can be found at (step 5):http://www.lynxmotion.com/images/html/build99f.htm

by KurtE

Extract the .zip file to a folder named "BotBoarduino_CH3R_PS2". The folder name IS required.

Open BotBoarduino_CH3R_PS2.ino in the arduino software, turn on the robot, and click upload (the small arrow pointing to the right.)

Remember to choose the appropriate board, processor and port beforehand.

The problem with the Phoenix code:The code is only for the legs (for 18 servos), therefore Antonio cannot move its head or its tail. Moreover the middle legs hook over the front legs while turning, which means that the degrees in the code must me reduced.

Antonio is controlled by a PS2, which is connected with the BotBoarduino.

PS2 controls

The default is Walking mode 1. Use the Left joystick to move Antonio around without turning (this is called "translation"), and the Right joystick rotates Antonio as it moves.

Up and Down on the D-Pad increases or decreases the height of the body.

The Circle button puts the body onto the floor in a 'resting' position. Press Triangle or Up on the D-Pad to raise or lower the body.

The Triangle button puts the body at 35mm from the ground.

That is only the few things Antonio can do!

There are four special "body moves" functions that are triggered by pressing L1, L2, Circle, or X. While in one of these modes, it does not walk.The joysticks and some buttons change function depending on which mode is toggled on.

See next slide for more functions and details.

DOESN’T WORK WITH SSC-32U

Antonio is worth playing with and improving!

The goal is to calibrate Antonio to perfection and to rewrite the Phoenix code to move Antonio’s head and tail, and to

make him turn with no problems as well!

A-Pod Hexapod Robot Specs