OpenServo.com

dsg123456789 · Joined: 03 Jan 2006 Posts: 21

As I have hinted at elsewhere, I am developing a program that will model and control a hexapod, similar to Andy's software. My program will offer feedback from all sensors, and it will be written in Java. I have written the model for a radially symetrical hexapod with 3 DOF legs, as well as fields to set the lengths of every relevant joint. It also does the Inverse Kinetmatics of the hexapod you entered, given target points. I dislike graphics programming, so I am not going to program the graphics tonight. After I get the graphics done, I will post the source up to that point here so that others can use it to contorl their robots.

You might be thinking, ""Why did he post this message?"" Well, its because the program is both educational for motion control, and it is designed to work with Openservos. The angles of each motor returned by the inverse kinematics are on a scale of 0-1024 in a 16-bit integer, ripe for sending to an Openservo. I also am posting about this because if someone else has a radially symetrical hexapod graphical model written in Java and wants to share it, I would like that very much, because then I can get right to the evolutionary gait algorithms.

(Mike, if you think this isn't in the spirit of these forums, drop me a line and I'll copy it elsewhere so that you can delete it)

mpthompson · Joined: 02 Jan 2006 Posts: 650 Location: San Carlos, CA

Hi David,

No problem posting this here, but it's probably best in the Applications forum since it will be an application of the OpenServo. I would like to keep this Software forum focused on software and algorithms used internally by the OpenServo. I'll move this thread to that forum when I get a chance.

However, I'm very happy to see some nifty applications for the OpenServo coming down the line. Once we get a handful of people using the OpenServo in this way I'm betting it will attract more people and put more momentum behind the project.

BTW, it seems a lot of people seem to be turning to Java for robotics. I've done commercial systems programming in Java, but it never really occured to me to use it for Java. We'll have to have a discussion about that someday as I'm curious about the choice of Java for robotics.

- Mike

andylippitt · Posted: Sun Jan 08, 2006 2:22 am Post subject:

mwgemini on this board is working on something along those lines. He's writting a java based client to the SSC32 (although I think he's planning more) that has some radial hex model code. I'm not sure how far he's progressed yet, but I think he'd be happy to share.

MWGemini · Joined: 03 Jan 2006 Posts: 8 Location: Raleigh, NC

I have already contacted David about this, and Nate W about interfacing with his software as well.

Perhaps it would be a good idea to set up a time where we can all meet in IRC to brainstorm, discuss our various projects, and make sure we are all on the same page.

If anyone is interested in that, please let me know.

Mike

dsg123456789 · Joined: 03 Jan 2006 Posts: 21

I would be interested, but I am not very familiar with IRC. Also, as a sidenote, my AIM works now (the WinAVR path variable modifications were the culprit) (dizjee1).