Using a HaViMo3.0 and two Dynamixel AX12 Servomotors we could successfully stabilise a ball and plate scenario. The controller used in the demo is a CM530 and the control code is written in RoboPlus. See the video below.
The control code task file can be downloaded here. The control code uses IDs 1 and 2 for vertical and horizontal movements. You can simply change the orientation of the HaViMo or the signs of the variables in the code to cope it with your hardware design.
We were selected by ROBOTIS as a beta tester of their new XL-320 and Open-CM9.04 platform.A few weeks ago we received the first packet containing 4 XL-320 servos, an Open-CM9.04 controller, and plenty of parts.
So we started thinking what we can make out of the parts. A bipedal robot would be ideal but only 4 servomotors were a little bit too few :).
We have already developed our bio-inspired leg locomotion concept and shown its performance during RoboCup2013.
We decided to do the same with this platform. By removing some less necessary DOFs we could finally design something functional. The first prototype worked well but without the batteries on board.
After the first tests, we concluded that we need to reduce the leg dimensions to increase the maximum load the robot can carry. We also added an upper body.
We added a neck and head and mounted the HaViMo into the head.
We found some issues using HaViMo2.0 and the recently released CM530 from ROBOTIS. The current firmware (version 1.1969) has a noticeably long latency in switching between TX and RX on the Dynamixel bus. So a response packet from HaViMo gets corrupt.
The new HaViMo2.5 is going to be released on 15. Aug. 2012 The product is based on ARM Cortex M3, and provides more functionality and capacity.
HaViMo2.5 is produced as an Arduino shield. More details and product information will be provided shortly.