Acyut : The Humanoid Robot

Just another Humanoid robot

Stage four : Programming

After the assembling was done we let out a sigh of relief, believing a major part of the work was done . But we were in for quite a shock! We used a microcontroller known as a servopod-usb to programme the servos. A motorolla DSP 56F807 forms the crux of the microcontroller. The servopod proved (and continues to be) very difficult to work with. Faced with a new programming language and no tutorials available anywhere is a nightmare I wouldn’t wish anyone. The new langauage called ISOMAX is rather complex. It took us a week to just figure out how to write a loop in the machine state based language. Though it was tough its capabilities excited us. (We are yet to realise those capabilities to its fullest.) To make sure it worked properly, we calibrated the biped on different surfaces. We were beginning to realise the effects of surface on gait and balance. Physics strikes back at us in wierd ways !




January 22, 2008 - Posted by | Acyut : The Biped

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