Halley, a robot inspired by the Poppy Project

This job is amazing! I am actually also building my own humanoid robot just like Poppy while I do not have much funds. Your work shows me correct direction I am gonna go!

Thanks!

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You are building a humanoid robot too? I’d love to see where it goes! If you’re following my Instructable, feel free to ask if you have any questions or get stuck.

Yes, I have a page (http://zlethic.com/red-lab/) for updating the progress of this project (it’s started only two or three weeks ago).

I am using Odroid U3 and Odroid U3 shield as the controller, and a humanoid robot kit which is about 40cm tall as the body (I bought this kit from the Internet because I don’t have a 3D printer nor laser cut in my lab). And I am using 19 servo motors (TowerPro MG946R) which are at the same price as yours.

The most exciting thing I noticed is that the servo motors at a price of 10 or 20 dollars work so well in your project! As far as I know, this kind of servo motors do not have any feedback framework. In your project, do you need to do recalibration of all the servo motors every time after starting the robot?

Thank you!

No, recalibration is not necessary, though you do need to attach the servos in the correct position the first time during construction. These kind of servos do have feedback, but it is only internal within the servo itself - it does not tell the microcontroller anything.

Gotcha! This information is helpful. Thanks!

There are already humanoid robots available in this price range that walk. See here: http://futureware.tictail.com/product/ready-to-use-raspberry-piarduino-humanoid-robot

Hi Futureware,

Yes, I’ve seen that one before. That robot’s name is “Rapiro”. A very good design I must say. The biggest differences between my robot and Rapiro is pretty much the Android phone face and the fact that my robot is 2.6 ft tall. Thanks for the info, though!

Cheers,
John Choi

John Choi.

I have been trying to make a lower cost version of the poppy using an ssc 32 board from lynxmotion and arduino uno with the possibility of an android phone for sensors and vision voice recognition it’s an ambitious project.

I know very little about robotics beyond basic 2 wheeled balance bot type robots. I saw on instructables.com that you have coding for the upper body but nothing yet for the lower half. Have you finished and released the completed code for walking? I’m horrible with code it still hasn’t clicked yet where I completely understand it all. I liked that the poppy was virtually plug and play until I saw the price of the servos o.O

Also I have made an adaptor for using RC servos in the poppy robot chassis which has really helped getting the frame built. I have a link in one of my posts on the forum.

Great project thank you for contributing to the robot community.

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Hi new2bots,

Good to hear from you!
I initially designed the Halley robot to be able to walk, but I quickly realized the servos would be too weak and unstable for bipedal walking, or even balancing. If you follow my Instructables step by step, you should have a fairly good idea on what it would take to make the legs move, but some serious redesign would be needed to get it strong enough to walk. That being said, I am currently working on a bigger and better version capable of navigating a room, and I’ll let you know when I have finished it :wink:

Cheers,
John Choi

John.

I’m just waiting on a powered usb otg cable I ordered for my s4. I’m using an uno to run the code and am hoping to just add in a few lines of code to connect via usb. I’m using the uart(RX/TX) port to control a lynxmotion ssc 32 board. Looking through your code it doesn’t seem like too difficult a program to add. Couple of extra libraries for the ssc 32 board and fingers crossed all shall be well.

Also I found an 18kg/cm motor on hobbyking.com I’m hoping to upgrade to and get things going. I’m thinking of putting tracks on the feet of my robot to help it move over flat ground as I only require the legs for climbing stairs and navigating over large obstacles.

Again great project you’ve advanced mine by lightyears.

Thanks

Cliff

Hm, rolling tracks to supplement the feet is an interesting idea.
If you have a build progress going, could you post some pics? I’d love to see it.

Right now I only have the torso assembled. The poppy files aren’t set up for filament style printing but I’m making due. Lots of home made parts and interesting fixes. I’m currently only using 4kg/cm servos so it’s very slow and some of the joints are giving me trouble. I’ve been struggling with arduino code for months and came accross your project which is everything I was trying to do on my own. I have discovered that with some 2 part epoxy painted over the filament parts adds a ton of strength while keeping the weight down. I think my whole robot only weighs a pound or two.

I’m going to order some 20kg/cm servos for the final build.

That’s what I have so far. I can make the upper body move with the ssc 32 board from lynxmotion and my pc.

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I guess you could replace your servo with Dynamixel XL320 that are cheapers than Poppy ones and will give you feedbacks (position, temperature, etc)

Hi everyone… I know very little about robotics beyond basic 2 wheeled balance bot type robots. I saw on instructables.com that you have coding for the upper body but nothing yet for the lower half. Have you finished and released the completed code for walking? I’m horrible with code it still hasn’t clicked yet where I completely understand it all. I liked that the poppy was virtually plug and play until I saw the price of the servo.

Hello Charles,

Thanks for the message!

The Halley robot currently does not support walking as the servos on it are too weak to support dynamic walking. I have since moved on to working on a larger project called the Multipurpose Mobile Manipulator, which is the next evolution of the Halley robot: http://www.instructables.com/id/Multipurpose-Mobile-Manipulator-Mk-1/. If you have any further questions, don’t hesitate to ask :slight_smile:

Cheers,
John Choi

John I just caught your instructable on aspir great work my Man. Still just a collection of parts and wires on my end. My printer pooched a year ago and it’s been shelved. Was good to see your progress and completed robot.

Hi Cliff,

Thanks for the message!

Oh yes, you are correct indeed - Halley is back, bigger and better than ever before with its new spiritual successor ASPIR! (it’s actually just a prototype that needs a LOT of improvement, it’s actually quite flimsy right now ;))

Cheers,
John Choi

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What is the kg on the motors? I am still just using 4kg ones they’re slow as anything for the upper body but it does a good zombie crawl at Halloween.

Thanks for the information.