UT-50 QPOD

GENERAL PURPOSE WALKING MACHINE

UT-50 QPOD is a medium-sized light walking platform (universal transporter) built with high quality components. It is conceived as a universal rolling machine for general use with a universal programming API. The machine can be modified and improved according to your own needs. UT -50 is a base for your own ideas . The user can equip UT with additional sensors such as a camera , a set of sensors or the master unit – a PC, a tablet, raspberry pi, arduino etc. The machine does not contain any ' intelligence' . In addition to the programming API, UT - 50 has a defined set of algorithms (stop, start, rest, up, go, back ,turn), which can be run from any PC or microcontroller.

UT-50 is built on a lightweight aluminum welded frame (profile 20x10x1.5 mm), to which four two partial legs are attached (L1 = 20 inches, L2 = 22 cm) . To drive the machine high- quality digital modeling servos Hitec are used. UT-50 has also got a mechanism to lift a leg ( to a height of approximately 4.5 cm ) as well as a steering mechanism. Each servo can pivot 60 degrees to the left or to the right. The leg is ended with an articulated foot. The source of energy of the system is the efficient LiPol battery Model 5000mAh 7.4 V (the more powerful one can be installed). In addition, the tilt sensor has been mounted that turns off the power supply in case of a loss of balance or fall ( in the testing phase).

The electronics of UT-50 is based on the servo controller Pololu MiniMaestro 18. The controller is equipped with a visual tool that allows complex control of the servo (position, velocity, acceleration) from a PC level. In addition, the controller has also got a simple scripted language based on the FORTH language with which you can create more complex algorithms. There is also a system for wireless control based on the Pololu Wixel.

Motion control system is run by calling the proper sequence of movements (functions) defined in the script stored in the driver MiniMaestro. Each function with the sequence of movements has got a unique number, so it can be run through the Command Protocol from a PC or a microcontroller (details available on the driver). Of course , there is the possibility of individual control of each servo. With its simple visual tools (Maestro Control Center) the user can define new algorithms , which can be shared with others.

The work on a tool to visual design and generate the algorithms "Motion Composer" is also underway, which will significantly speed up and improve the process of defining the complex and smooth movements. The present ‘manual' method to define the movement is time consuming and you can get lost in the maze of numbers. In addition, work will be conducted on the mechanism of stiffening the foot and the system for balancing a battery. It is also recommended to slightly improve the rigidity of the system.

It is possible to build UT-50 on request - the cost of building UT-50 is about 3.400$ , and the construction time is about 5-7 weeks (depending on the availability of items). Handling with the UT-50 requires only a basic knowledge of technique: programming skills, the basics of digital electronics, principles of operation of the modeling servo and school principles of physics. And thanks to the fact that UT-50 is built with standard modeling components with a little practice you can freely convert it and improve. The total income will be donated to the expansion of my 'lab' and realization of new ideas.

UT50 TECH DOC (MS WORD)


Weigth 2.6 kg (5.7 lb)
Length 50 cm (20 in)
Width 22 cm (9 in)
Height 45 cm (18.5 in)
Legs distance 40/17 cm
Legs Two parted four legs (L1=20 cm, L2=22 cm), turn mechanizm (axis turn), leg lift 40 mm (1.57 in)
Frame Aluminium 6060
Drivers Digital Servos, 50Hz (20ms), Pulse from 0.9 ms to 2.1 ms
Number of motors 16
Supply 7,4V DC, 5000mAh LiPol 2S
Planned payload 1 kg (2.2 lb)
Electronics Pololu MiniMaestro 18, Pololu Wixel
Control Serial Command (PC, TTL), FORTH language
Sensors 3 axis accelerometer (planned)



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