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CHAPTER 5 OMNI-BIPED
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Table 5-1. Continued
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8 2 18 2 4 14
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Orange Light gray Black Dark gray Dark gray Light gray
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TECHNIC Bionicle 1 3 Tooth with Axlehole TECHNIC Gear 20 Tooth Double Bevel TECHNIC Pin Long with Friction and Slot TECHNIC Axle Joiner Perpendicular with 2 Holes TECHNIC Axle Joiner Perpendicular Double Split TECHNIC Axle 3
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237 parts total (all included in the NXT retail set)
CHAPTER 5 OMNI-BIPED
Start building the right foot. In Step 2, insert the blue axle pins at the end of the bent beams.
CHAPTER 5 OMNI-BIPED
Add a 15-long beam with 8 black pins, then join the foot parts with the dark gray bent liftarms. Finally, add the ankle hinge.
CHAPTER 5 OMNI-BIPED
Add the other two ankle hinges that allow the biped to bend the ankle to shift the weight smoothly. The right foot is completed.
CHAPTER 5 OMNI-BIPED
Now build the right leg. Here you must use two 15-long beams and a 9-long beam to join them.
CHAPTER 5 OMNI-BIPED
Reinforce the leg using 9-long and 7-long beams. Add the bent beam where the legs cams will be attached and add the black pins.
CHAPTER 5 OMNI-BIPED
The right leg is done.
CHAPTER 5 OMNI-BIPED
Start building the left foot. In Step 27, insert the blue axle pins at the end of the bent beams.
CHAPTER 5 OMNI-BIPED
Add a 15-long beam with eight black pins, then join the foot parts with the dark gray bent liftarms. Finally, add the ankle hinge.
CHAPTER 5 OMNI-BIPED
Add the other two ankle hinges. The left foot is completed.
CHAPTER 5 OMNI-BIPED
Now build the left leg. Here you must use two 15-long beams and a 9-long beam to join them.
CHAPTER 5 OMNI-BIPED
Reinforce the leg using 9-long and 7-long beams. Add the bent beam where the legs cams will be attached, and the left leg is finished.
CHAPTER 5 OMNI-BIPED
Attach the two legs together, using the central dark gray bent beams as a reference. Place the right leg forward and the left leg backward, as shown.
CHAPTER 5 OMNI-BIPED
Now you re building the left motor subassembly.
CHAPTER 5 OMNI-BIPED
Attach a black pin in a hole of the 24-tooth gear; this gear must be rotated so that two of its holes are aligned with the 5-long beam holes. Use Figure 5-2 as reference.
CHAPTER 5 OMNI-BIPED
Insert the left motor subassembly in place. The cam pin goes in the free hole of the central bent beams of the leg assembly, the last hole of the 5-long beam goes in the gray pin of the leg, and the external ankle hinge pin goes in the first round hole of the motor assembly s bent beam.
CHAPTER 5 OMNI-BIPED
Now you re building the right motor subassembly.
CHAPTER 5 OMNI-BIPED
Attach the black pin in a hole of the 24-tooth gear, so that it is the opposite hole with respect to where you placed the pin in the other leg cam. This is not crucial now, but the correct alignment of cams and legs is essential later.
CHAPTER 5 OMNI-BIPED
Insert the right motor assembly onto the robot structure as before. The walking base is completed.
CHAPTER 5 OMNI-BIPED
From now on, you are building the robot s upper body. You can get creative or continue building as illustrated. Rotate the model and add the perpendicular joiners, blocking them with two 5-long axles.
CHAPTER 5 OMNI-BIPED
Add four black long pins.
CHAPTER 5 OMNI-BIPED
Add the 7-long beams.
CHAPTER 5 OMNI-BIPED
Place the NXT on the legs and put three pins where shown. In the picture you see a flying NXT because the instructions are meant for both those who will use normal batteries or the Li-Ion battery pack, which makes the NXT one unit taller than normal.
CHAPTER 5 OMNI-BIPED
Place two bent beams to lock the NXT on this side.
CHAPTER 5 OMNI-BIPED
Turn the model to see the robot s back. Add three pins as before.
CHAPTER 5 OMNI-BIPED
Add two bent beams again and the NXT is now completely locked onto the legs.
CHAPTER 5 OMNI-BIPED
Build the robot s head.
CHAPTER 5 OMNI-BIPED
Attach the right motor to NXT output port B using a 50cm (20 inch) cable. See the next step (85) to see where to pass the cable.
CHAPTER 5 OMNI-BIPED
The cable must pass tightly in the space between the motor s white beams, and you must block it there with a long pin with the stop bush. The cable turn in the bottom of the foot must clear the ground or the robot won t walk correctly.
CHAPTER 5 OMNI-BIPED
Attach the left motor to NXT output port A using a 35cm (14 inch) cable. Pass and block the cable as shown. Check the previous caption as a guide.
CHAPTER 5 OMNI-BIPED
Attach the Ultrasonic Sensor to NXT input port 1 using a 20cm (8 inch) cable.
CHAPTER 5 OMNI-BIPED
Start building the arms decorative assembly. This submodel is optional and can be replaced or customized as you want, just paying attention not to compromise the robot s balance.
CHAPTER 5 OMNI-BIPED
Build the arms themselves and attach them to the rest of the assembly.
CHAPTER 5 OMNI-BIPED
Build the hands.
CHAPTER 5 OMNI-BIPED
Attach the arms subassembly to the robot.
CHAPTER 5 OMNI-BIPED
The Omni-Biped is completed.
Summary
In this chapter, you ve been introduced to a small and quick biped robot the walker alternative to the LEGO wheeled Tribot. This is a simple project, with respect to other ones you ll find later in the book. Still, it offers many ideas, and an occasion to show some techniques that could be useful in other situations. Alpha Rex inspired the Omni-Biped legs shape, but notice how small but fundamental modifications have notably improved the gait, especially regarding turning. The motor is a mobile part of the leg itself, while in Alpha Rex, motors are hung inside the leg frame and don t move during the gait. Here, every motor drives a whole leg, both stepping and leaning, while in Alpha Rex the motors control different movements of both legs together; that is, one motor controls robot leaning, the other controls the stepping. Furthermore, the turning mechanism is much more elegant in Omni-Biped than in Alpha Rex, whose solution (with rubber grippers) is not realistic. On the software side, you saw the difference between single-task and multitask programs. We also touched the tip of the iceberg with regards to concurrent programming difficulties and their solution: the mutual exclusion semaphores. Also, the modulo operator (%) could
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