Search found 10 matches

by jwhitman
Fri Feb 05, 2021 2:07 pm
Forum: Suggestion Box | Feature and Product Wishlists
Topic: Publications that use Hebi robots
Replies: 2
Views: 138

Re: Publications that use Hebi robots

Here's another batch of newer papers I've found using Hebi modules: Luck, Kevin Sebastian, Heni Ben Amor, and Roberto Calandra. "Data-efficient co-adaptation of morphology and behaviour with deep reinforcement learning." Conference on Robot Learning. PMLR, 2020. Yang, Shuo, et al. "State estimation ...
by jwhitman
Thu Dec 03, 2020 4:43 pm
Forum: Suggestion Box | Feature and Product Wishlists
Topic: Publications that use Hebi robots
Replies: 2
Views: 138

Publications that use Hebi robots

I've noticed a few recent papers that use Hebi robots, and think it would be interesting to keep a list of such papers. This could help to gauge what the state of the art control methods and their performance. A few that I have seen: Mueller-Sim, Tim, et al. "The Robotanist: a ground-based agricultu...
by jwhitman
Thu Nov 05, 2020 11:17 am
Forum: Actuators
Topic: Actuator changed its absolute zero angle
Replies: 5
Views: 283

Re: Actuator changed its absolute zero angle

Update: another lab member was working with X-80656 (an X8-9 on a hexapod) and also observed that the position reference point jumped by exactly 90 degrees.
We are not sure yet what causes this but he did not change it deliberately.
by jwhitman
Wed Oct 28, 2020 5:12 pm
Forum: Actuators
Topic: Actuator changed its absolute zero angle
Replies: 5
Views: 283

Re: Actuator changed its absolute zero angle

Interestingly, I've observed a similar behavior, only on one or two of the X5-9 modules. I know no one changed it since I am the only one with access to it, and the change happened on a local network without internet access. What I saw was that sometimes the zero reference point would vary by exactl...
by jwhitman
Wed Oct 28, 2020 4:30 pm
Forum: ROS
Topic: URDF velocity limit units
Replies: 0
Views: 100

URDF velocity limit units

I think that the units are incorrect in the velocity field of your actuator urdfs. 
https://github.com/HebiRobotics/hebi_de ... ator.xacro
has velocity limits that seem to be in rpm, when the urdf standard interpretation is in rad/s. 
by jwhitman
Thu Jun 04, 2020 4:23 pm
Forum: General
Topic: Network topology discovery
Replies: 6
Views: 449

Re: Network topology discovery

Thanks for all the suggestions. I like the LED idea, I will think about how to adapt that for my custom hexapod. I'm switching around their order frequently so constantly crawling under it to find the serial numbers has become tiring. Since I don't have a serial-chain robot, the IMU method would be ...
by jwhitman
Thu Jun 04, 2020 3:48 pm
Forum: Actuators
Topic: Actuator port coverings
Replies: 0
Views: 113

Actuator port coverings

When using the X-series modules, I try to be careful to avoid collisions with the plugs, but occasionally, they happen accidentally. I know Hebi offers beautiful 3D printed parts that cover the through-bore of the modules, but I haven't seen any that cover the plug area. I am working on a part that ...
by jwhitman
Wed Jun 03, 2020 3:01 pm
Forum: Introductions | New user? Introduce yourself!
Topic: I'm Julian, a PhD student at Carnegie Mellon.
Replies: 2
Views: 330

I'm Julian, a PhD student at Carnegie Mellon.

I'm Julian Whitman, a PhD student at Carnegie Mellon University in the Biorobotics Laboratory since 2015. I've always had a fascination with bio-inspired (especially insectoid) robots, which led me to working on modular hexapods snake robots. In turn, this inspired my current research on automatical...
by jwhitman
Wed Jun 03, 2020 1:01 pm
Forum: Actuators
Topic: Actuator Gain Parameters
Replies: 3
Views: 298

Re: Actuator Gain Parameters

As per the damping/viscous coefficients and static friction constants, in my experience they vary between modules even of the same type, and can change over time as they get dirty or worn in. I think its also impacted by really small tolerances in the gears, which change as they wear down. I've seen...
by jwhitman
Wed Jun 03, 2020 12:54 pm
Forum: General
Topic: Network topology discovery
Replies: 6
Views: 449

Network topology discovery

I am trying to see what, if any, ways there are to automatically discover the connectivity of the modules. This would make it so I wouldn't need to hand-code all the module serial numbers in the code. For example, if I have a chain of them, and I can see them all on the network, is there any way to ...