A hexapod spider robot controlled by Robotis CM-700 controller, motorized by twenty Robotis Dynamixel AX-18A servos, and one Robotis AX-S1 integrated sensor mounted on its head. The robot frame is a slightly modified TrossenRobotics ABS PhantomX kit.
There are many options of robotic controllers in the market and it is a great fun to try it all. Initially I started this spider project using the 1st version of TrossenRobotics Arbotix controller with the open source software from the same company. Then I tried the ROBOTIS OpenCM9.04 open source controller along with its Arduino like IDE. Finally, I picked ROBOTIS CM-700 controller along with ROBOTIS RoboPlus Software. I’m not sure how long I will keep using it.
What I like about CM-700 is its compact design, the low-power 8-bit AVR RISC-based microcontroller (ATMEL ATMEGA2561) which is widely used in many applications including Arduino boards, its big number of ports, and the very user friendly RoboPlus software.
Controller Specfications:
- MCU : ATMEL ATMega2561
- Working Temperature : -5℃~70℃*
- Weight : 37.3g
- Working Voltage:
- Allowed Range : 7V ~ 35V
- Current:
- Consumed Current When idle : 40mA
- Exterior I/O Maximum Current : 0.9A
- Overall Maximum Current : 10A (Fuse)
- Internal I/O Device
- Button : 2 sets (Reset 1, Start 1)
- Temperature Sensor : 1
- Voltage Sensor : 1
- External I/O Device
- OLLO 5 pin I/O Port : 6
- 3-Pin Connector TTL Communication : 4
- 4-Pin Connector RS-485 Communication : 5
- /Docs - Project Related documentations.
- /RoboPlus Files - Motion,Task, and Design Files generated using Robotis RoboPlus 1.x & 2.x
- /Research Paper - Related robotics research documents.
#Version History
- Version 1.0 (work in progress).
All code in this repo is open source so please feel free to do anything you want with it.