Justin Liu

TRON '28 ON TOP

[Justin Liu @justin_liu2]

Made this new wooden testing rack with @greg_schneid , now running all 4 legs in sync. It's feeling like a dog finally :)

[Justin Liu @justin_liu2]

New power supply arrived, powering Cooper with it already.
Whipped up some code to run one leg, notice when the upper leg moves, the knee angle don't change. Concept from 2 weeks ago now proven😎
@greg_schneid @BeaumontQu

[Justin Liu @justin_liu2]

Putting Cooper in the air again. Currently using double sided tape to attach motor mount to base plate, these motors still haven't learn to not bump into other components, better to detach tape rather than snapping something.

[Justin Liu @justin_liu2]

No Cooper update tonight, a tiny accident happened while I was scraping working with a scraper. I'm fine

[Justin Liu @justin_liu2]

Trying to keep the gear drive design for more intuitive angle calculations, despite the linkage continues to buckle... When motors rotate in sync, knee angle don't change :)
@greg_schneid @BeaumontQu

[Justin Liu @justin_liu2]

No updates on the new leg design. That's becuz I was migrating Cooper's CAD from SolidWorks to Onshape. Clearly, a shared OneDrive folder is not as good of a PDM as Onshape.

I'll need to take the new motor idea back to the discussion board... rn it's a bit too ambitious...

[Justin Liu @justin_liu2]

Cooper's getting a hardware change... The servos we had don't give feedback to the controller, and they make initial assembly a pain... So me and @greg_schneid has decided it's time to change the leg design (again)!! This time for NEW SERVOS. Stay tuned to see how this goes.

[Greg Schneider @greg_schneid]

Almost got rotational gait working on the robot -- looking forward to testing on some hardware shortly!

Working out robot gaits is harder than it looks - mad respect to all those that have done so already.

@BeaumontQu @justin_liu2 @localhostHQ

[Justin Liu @justin_liu2]

@greg_schneid thx for writing the program shown in the video!

[Justin Liu @justin_liu2]

The past two weeks were just... chaos.

I was making hardware design changes while @greg_schneid was servo testing and math-ing.

But now we're actually making progress! Tho I had to remove two legs off the dog because the motors are not turning in the correct directions lol.

[Justin Liu @justin_liu2]

Me & @greg_schneid will be posting updates on the development of Cooper. Find out what more about Cooper under @BeaumontQu's account too.

So I completely blanked out about adding screws holes in the prev leg prototype. For like 2 hrs I was punching holes with a screw driver 😂

[Greg Schneider @greg_schneid]

New Leg Design removes all the linkages! Check it out 👀

[Beaumont Qu @BeaumontQu]

Had way too many problems with 3D printed linkages, now we're tinkering with gears...

Hoping to increase the range of actuation + precision of movement.

[Beaumont Qu @BeaumontQu]

We're building an open source robotics quadruped.

Meet Cooper ... more updates soon 👀