ZodiusInfuser

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About ZodiusInfuser

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  1. Glad to see this out in the wild! If anyone's interested, I modelled the lock after this IRL locking mechanism I developed during my PhD, but swapped out the latches for electro-permanent magnets.
  2. ZodiusInfuser

    [WIP] Unity Editor Plugin

    Hey! I realise this isn't my thread, but just thought I'd show you my Unity walking sim progress since I last posted here.
  3. ZodiusInfuser

    [WIP] Unity Editor Plugin

    I believe that's what VR_Dev was doing, yes. What I've been showing is a 3 step gait, with 2 legs moving at a time, and I'm currently testing a 5 step gait on a 10 legged robot. KurtE was basically the expert for hexapods back in the day, so it doesn't surprise me the code is well commented. That code file in particular is for an Arduino board variant called Botboarduino, so I imagine a lot of it is the way it is to get around the 16Mhz clock speed of the microcontroller, and lack of a floating point unit. It being C rather than C++ is likely because the Arduino IDE doesn't make it clear that many of these chips do actually support C++. This is why I personally use Visual Studio for programming all my Arduino projects. Hexapods, or rather any walker with more than 4 legs are what are called statically stable, meaning that if the control software were to lock up at any time, the robot would not fall over. You are right about my irl hexapod not being "rigid", and has comically collapsed due to loss of motor power before . (vid of hexapod here if you haven't seen it) For Infernal Robotics though, I believe those hold their position even if no power is provided. PID is not something I've explored yet on hardware, as all servos contain the Proportional part of PID, and don't typically let you read their angle to implement the other two parameters in software. Will be interesting to hear what you find out
  4. ZodiusInfuser

    [WIP] Unity Editor Plugin

    Oh yes, they're great for debugging! The actual calculations are all done relative to the body (sphere), so I then when move the body in world space the paths should be smooth with no sudden jumps or sliding. Code isn't available yet, but I would like to get something out there this month. Actually, I am hoping it will lead to a more dynamic walk cycle with some legs taking multiple strides for every one of another leg, and the ability to change gait whilst walking. But we'll have to see. My learning journey for hexapods was from the old Lynxmotion forums, back when I built my own IRL hexapod. They were a company that sold walker kits, with various people making code to get them moving. Here's one relevant webpage: http://www.lynxmotion.com/images/html/proj102.htm The general thing to know is that there's actually two separate problems to deal with, the Inverse Kinematics of calculating the joint angles needed to have the end point of the leg align to a target position, then moving those target positions in such a way that produces a smooth motion. Currently what I have shown only deals with the latter, whereas VR_Dev is exploring both.
  5. ZodiusInfuser

    [WIP][1.6] Infernal Robotics Sequencer (NEXT) 3.0.1

    Great to see this being taken over from Ziw and Rudolf! I remember us having big plans for this back in the day (and IR itself) but real life got in the way so the state machine functionality was the last feature that got implemented. I could do him a custom banner image too if he really wants . I still have all the old IR logo and UI assets in svg format after all.
  6. ZodiusInfuser

    [WIP] Unity Editor Plugin

    Ah cool that you're developing your own gait sequencer, and it's interesting how different our approaches are. In mine the gait sequencer is abstracted from physical coordinates, so rather than giving it positions I give it stride start and end times for a looping cycle. This allows me to compute a line/arc for each leg to follow, and scale the length and time-step of the gait accordingly, ensuring that all steps stay within the capsule outlines I define on the ground (can be circles too). So far this has worked pretty well, letting me change the user input on the fly (as my second tweet shows). Of course there is no physical or simulated robot yet so there may be factors I have yet to consider, so we'll have to see. Terrain adaptation works though, which is nice. Thanks for putting your code up! Once I have something of mine up I will take a look. I imagine much of your IK stuff will be very useful! What license you using?
  7. ZodiusInfuser

    [WIP] Unity Editor Plugin

    I don't do any more unfortunately, but back in the day I was involved in all sorts of things for the game! You can see some of the things on my old site, which is still live: http://id.tauniverse.com/ In fact my profile picture on here is the icon of a custom unit I made. A walker of course
  8. ZodiusInfuser

    [WIP] Unity Editor Plugin

    Hey @VR_Dev, Cool to see you revisiting this! I know you worked on your own walking algorithm and terrain adaptation in the past for this, but I don't suppose you're interested in exploring other options? I remember you saying previously that the bridge part was the thing that interested you most. The reason I ask is because I've recently been porting and updating some old walking code over to Unity to test out before porting to Arduino for my IRL Hexapod, and thought it could be good for KSP too. I've actually been working on this code for the past 15 years in various forms and programming languages, with the first versions being scripts for walking units in the video game Total Annihilation. You can see gifs of two units from the game below. Incidentally these were taken by someone who's recreating the game engine, so used them to verify the script parser worked. Then there was this attempt in C# + XNA I did 10 years ago: Since then I've been rethinking the system and making notes but only in the last month have I had the urge to try the code. You can see various gifs below (forgive them in being tweets). Note that I am not interested in the inverse kinematics at this stage, but rather the trajectory planning of the leg target coordinates. Also the big thing with this is that it's not specific to 6 legs. Here's a test I did with 10, but I don't think there's any real upper limit. Hope to put this code up on github sometime this month. Cheers!
  9. ZodiusInfuser

    [WIP] Unity Editor Plugin

    Talk about jumping in at the deep end! Some of the algorithms involved in getting hexapods walking can be very complex, so I hope they provide you with a code base to get you started! If you really do not know what KSP is, then the tl:dr is, it's a physics-based space simulation game. One of it's big features is the ability to support mods, so mods like Infernal Robotics add moving parts to the game, making it great for re-creating unmanned space missions, but also for testing our mechanical concepts without forking out all the money on parts first. Having built my own hexapod IRL I am very aware of how expensive that can get! @VR_Dev 's project attempts to use KSP and Infernal Robotics as both the user interface for creating contraptions and the physics engine for simulating them, but with the control being by a completely separate application. I'm sure he can elaborate on any specifics you may have.
  10. ZodiusInfuser

    [WIP] Infernal Robotics - Next

    My vote would be for 1.4.1 only, however I understand that people can still download the old version through the beta's tab in Steam.
  11. ZodiusInfuser

    [WIP] Infernal Robotics - Next

    Ah okay, apologies. As you were.
  12. ZodiusInfuser

    [WIP] Infernal Robotics - Next

    Are these just scales your testing? Because for the rework parts at least those scales were chosen for specific reasons and should be kept.
  13. ZodiusInfuser

    [WIP] Infernal Robotics - Next

    In a way he is, although myself, Ziw and Sirkut do have some involvement in design decisions. What has been discussed so far is that once IR Next has had time to prove itself, it will be merged back in to the main IR distribution as IR 3.0.
  14. ZodiusInfuser

    [WIP] Infernal Robotics - Next

    Given that the Making History Expansion is coming out next week, I suspect most modders will be waiting for that to see if a KSP 1.4.1 drops with it too. So I would suggest holding off with a 1.4 release until after the expansion is out. Of course, that won't change the unity version so testing now is a good idea. Personally, I'm quite interested to see how all this model / texture switching / theme stuff works. After all, it would be very easy to create alternate themes for the rework parts given their "I can't do texturing, so here's solid colours instead" style
  15. This. Don't spread the direct link. If you must share something then share the forum post for the link instead.