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 !

servopod.jpg

pragram.jpg

Advertisements

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

No comments yet.

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out / Change )

Twitter picture

You are commenting using your Twitter account. Log Out / Change )

Facebook photo

You are commenting using your Facebook account. Log Out / Change )

Google+ photo

You are commenting using your Google+ account. Log Out / Change )

Connecting to %s

%d bloggers like this: