rtems on a robot

[Joel Sherrill]

Vivek Vaid wrote:
> 
> Hi,
> 
> This link has the pic of the 6 legged robot (with me) which walks under
> control of rtems.
> http://www.ee.iitb.ac.in/uma/~vaid/wm1/walkingme.jpg

Congratulations.  I would like to add a link to your application site. 
Is this
the best link?

> Im sorry for the late reply. was stuck in exams & academics. :((
> 
> For those who have forgot what im talking about. this is just an info
> mail (appended to the previous one below) about a 6 legged walking robot.
> 
> The details are as follows:
> 
> * The 486 board inside the robot remote-boots with an rtems image
>   (ne2000 card with netboot)
> 
> * The rtems code carries a simple telnet server & the control loop. This
>   allows me to give commands to the servo loops (threads) from my pc.
> 
> * The network thread is an rtems thread (netdemo code) and the other
>   control thread is posix. This single thread does the servoing of all 18
>   motors. (3 degree of freedom per leg).
> 
> * The hardware (isa slot cards) in the 486 are custom designed, so there
>   was no need to make a driver. I just output and input bytes to
>   io-addresses. (the motor drivers are also custom made in our lab, one is
>   visible in the pic)
> 
> * The weight of the robot is 300kg, and i have only tested it to walk with
>   80Kg payload. 12 of 18 motors are 1 hp. Power supply is ofcourse not on
>   the robot.
> 
> * The code currently is very crude in terms of user interface. a wrong
>   key press while its walking may make the monster kick or
>   topple!! next im going to make the gui, and safety features so that
>   people other than me can operate it :))

Sounds like a dangerous lab. :) Playing with big hardware is so much
fun. :)


> regards,
> Vivek
> 
> On Wed, 6 Feb 2002, Joel Sherrill wrote:
> 
> > Very cool.  Is there a url or pictures yet?
> >
> > --joel
> >
> > Vivek Vaid wrote:
> > >
> > > (sorry if you get it twice. I guess it did not reach the list last time i
> > > sent due to dns err.)
> > >
> > > Hi,
> > >
> > > Well, I'd like to inform you all, that I have used rtems to control a
> > > Six Legged Walking robot which is being built in our lab.
> > >
> > > Each leg has 3 dof.
> > > The robot stands 6 feet tall, and weighs about 300Kg.
> > > 12 out of 18 motors are 1 hp motors..
> > >
> > > rtems resides in a 486 industrial motherboard, which remote-boots, and
> > > allows high level commands to flow in from the network
> > > (the code is based on netdemo)
> > >
> > > Just finished the first basic code which runs all 18 axis simultaneously.
> > >
> > > Regards,
> > > Vivek
> >
> >
> 
> --------------------------------------------------------------------
> Vivek Vaid
> 
> Research Associate
> Robotics Lab,
> Dept. of Mechanical Engineering
> 
> M. Tech. Student
> Dept. of Electrical Engineering
> 
> Indian Institute of Technology, Bombay
> --------------------------------------------------------------------
> 
> "To develop working ideas efficiently, I try to fail as fast
>  as I can."
>                                                 R. Feynman

-- 
Joel Sherrill, Ph.D.             Director of Research & Development
joel at OARcorp.com                 On-Line Applications Research
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