Dancing Jr’s

Refreshed from the previous post about the STEM expo project.  It took them a better part of the afternoon to get the robot assembled.  The following weekend they programmed up a series of poses. It was great to watch their reaction when their creation first moved.

The code was simplified further so it was really just two lines of code: the declaration of the pose and a function call to make that particular pose.  We used a second program to record a pose.  Push a button and the robot turns it’s lights all green and releases all the motors.  Then the robot can be moved into the desired position.  Pushing the button again locks the motors and outputs the motor positions in the format that can be cut-n-pasted directly into the main program.  Just check the name of the pose and adjust the light colors and motors speeds if desired.

Code available upon request.  Approximate cost not counting 3D printing costs is $183.50 to $220.20 based on parts list below:

• 3D printed frames for Poppy Ergo Jr figure
  https://github.com/poppy-project/poppy-ergo-jr/releases/
• OLLO rivets
  http://www.trossenrobotics.com/store/p/6980-OLLO-RIVET-SET-ORS-10.aspx ($5.50)
• (6) Dynamixel XL-320 with cables, IDs numbered 11-16 starting from bottom
  http://www.robotis.us/xl-series/ (6x$21.90)
• OpenCM 9.04c controller board with USB cable
  http://www.robotis.us/opencm9-04-c-with-onboard-xl-type-connectors/ ($19.90)
• For power choose one of the following (or both)
  • Two OpenCM-compatible batteries and charger;
    • http://www.robotis.us/li-ion-battery-3-7v-1300mah-lb-040/ (2x$9.90)
    • http://www.robotis.us/li-ion-battery-charger-set-lbb-040/ ($6.90)
    • 2 chargers allows charging both batteries at once
  • or compatible AC adapater, using a power hub helpful
    and you will need to create a cable with one end half XL connector and one end AX connector.  XL-style cables included with servos, AX-style cable below
    • http://www.robotis.us/robot-cable-3p-60mm-10pcs/ ($10.90)
    • http://www.trossenrobotics.com/6-port-rx-power-hub ($7.95)
    • https://www.trossenrobotics.com/p/power-supply-12vdc-2a.aspx ($10.95)