that's cool!. hey, you could try to put in a gyroscope to make the movements according to the position of the robot.

@CarlBugeja

4 жыл бұрын

Thanks! There's already one onboard 🙂 the rolling test shown in the video is open loop just to see how it reacts for now

@nanorex_designs

4 жыл бұрын

MorphHex by Zenta uses an IMU to achieve just this. In general the robot has to be rolling at a perfectly constant specific speed in order for open loop control to work at all here, so correcting the center of mass (probably very difficult) and switching to closed loop control should make a big difference in rolling performance!

@nicotinecnts

4 жыл бұрын

thats a great idea

For rolling motion like that you need to be able to shift the center of mass to another axis, I think you might be able to get away with stabalizing the com to a 45 degree axis and having the legs extend up to 45 degrees. This might be a nice robot to setup real life neural network learning

@CarlBugeja

4 жыл бұрын

Thanks! That would be so cool! For the rolling part I will do some experiments in future videos because this test was just an open loop test.. I will need to start getting data from the onboard imu

@Scott_C

4 жыл бұрын

Check out James Bruton's BB-8 videos

@skylerockspecial

4 жыл бұрын

You might also get away with a lead screw through the center that changes the position of a mass

I'm still not forgiving you for making me wait

@CarlBugeja

4 жыл бұрын

Haha sry for that

@thesecondeliminator5389

4 жыл бұрын

Lmao dont worry ur not alone

@Davestar-fj7kp

4 жыл бұрын

I don't forgive him for removing the current limiter

Love your projects! Thanks for the inspiration

Wonderful project, mate!

Thats cool carl... It was really hard project to do it.... But you did it... Great job

1:52 [Started bobbing my head to the beat]

@JB-ds5wq

4 жыл бұрын

Oh wow same

Absolutely amazing!!

that was super cool and got thousands of ideas from that thank you

just discovered your channel and its epic

this channel will blow up

@maximiliannast5962

4 жыл бұрын

i hope so too. So awesome.

soooo cool! i need to build something like this right now.

Very inspiring content

Subbed because this is awesome

Rubber on the feet could help

@xcruell

4 жыл бұрын

it would push itself forwards and backwards again, if you put rubber on all 4 legs.

Awesome stuff! Really inspiring to make my own robots :) subbed for more!

@redthechaotic1187

4 жыл бұрын

hope you have fun cuz its amazing seeing something you create spring into life

Dam wish I could have found this sooner that pcb would be golden to have

Very cool you little genius. It Worked like so so, But enjoyed the whole process. Would love to see a new and improved version.

*Very nice bro*

So incredible skill

I love what you do here in your video it is amazing. Simply brainstorming, but the rolling mechanic you can have little piston s on the bottom of the walking stilts. Also when the robot is transformed into its open mode it could reveal a tiny gun.

So cool! Where can I get the bom of the PCBA?

From where did you bought the 3D prints and also please send the list of items required to make it.

this is coo man. i had only one question, i hope you will answer it. from where did you start your way to master this technology? i am waiting you answer.

Appreciate you making your work open-source. Proud of guys like you. More power to you. 💯

Reaction wheels! As to help with orientation and balance on the "equator" so it can roll straight. And so it can lean to turn

Love this idea just a quick question though in the first video you see some kind of a metal bushing on all the parts. Is that like a treaded insert or where can I buy some? Also I saw the photo on your Hackster padge with the board plugged into something but what's that thing called

@CarlBugeja

4 жыл бұрын

They are 5mm flandge bearing SMF681X-ZZ

Proset, ghandek setup tajjeb hafna u good knowledge tal-electronics. Keep it up!! Maltese got talent too :P

Good progress!! Keep it up 👍 Recommendation: you can stick something hemispherical at the bottom so that it will not stop rolling at bottom. 🤔

@CarlBugeja

4 жыл бұрын

I was think of doing some kind of a lid.. I will definitely talk about this in future videos 😉

@padmalayarawal3091

4 жыл бұрын

@@CarlBugeja All the very best 👍

Liked bofore watched xD

Add little elastic band onto the joint may help increase torque under some poses

No idea if ever made another one but why not ad a central fixed ring so when it becomes a ball the ring coukd rotate amd help it roll forward. Pr maybe small wheels so don't have to bother with leg timing?

The ball is beat boxing 🔥🔥🔥

amazing 🤩

I think making it a little bit bigger is the right approach. For the rolling to work you would need to make it so, that the main body can move from side to side while its closed inside the ball. This way you can lower its center of gravity depending on which way is up or down and make it sit stable on its side. If not, its almost impossible to make it roll nicely

What if you try rolling 'sideways' by extending two paired sections at a time instead (so alternating hemispheres)? Sort of in the direction it was rolling at 2:20. Seems like the way the 4B is balanced would work better this way. Might even let you steer the thing by extending one leg slightly more than the other in the pair

Keep it up

for rolling you might have tried longer strides to start the roll effect.

Have you considered making the leg components self-aligning? Instead of making the mating edges flat use a beveled edge so they interlock and align when it turns into a ball.

can you please link us with some resources to learn more ? Great Progress :)

Carl - A decent idea for getting the ball to roll... Possible AI algeo? Axiom is if you are on a different access of the gyro or the accellerometer shows the ball is tilting then you are doing the right thing.. Axiom two is the less time you spend on an axis then you are doing the right thing.. It be fun to see the ball learn to roll.

Awesome! How about some sort of pads on its "feet"? May give it better strides with a little grip

@CarlBugeja

4 жыл бұрын

Thanks! I'm going to talk about that in the improvements video 🙂

Good Job!!! btw-have you considered a gyroscope type sensor to keep it upright ?

@CarlBugeja

4 жыл бұрын

Thanks! Yes definitely in fact it already has one on that pcb. I will include it in the sw in future updates 🙂

It needs a gyroscope, and a starter to rolling like close two claws toguether at the same time and de other impulse opening an then with that programation that u have used keep rolling using the gyroscope like and extra help tool

Oh my god you are genius

Getting a sphere to roll isn't trivial, but it will definitely add complexity to the build. Most spherical robots do this by using a weighted pendulum to offset the center of mass away from the center of the sphere. Segmented spherical robots, however, can have a different form of locomotion, and what you're trying to accomplish is going down the path of this form of locomotion. A few years ago there was a spherical hexapod called MorpHex, which had 12 panels, and what it would do is roll along it's split equator, which allowed panels from each hemisphere to offset each other, which would allow for left/right tilting, then, like yours, each set would be used to push the sphere forward. Problem is, both of these options increase complexity, which would increase size and weight. The only solution I can think of is a hybrid of the two, mass shifting and using the shell to push the robot forward, though this would require a lot of design changes: A bi-directional solenoid, or a solenoid with a central holding position, for the left/right weight shift, which would allow for tilting, while using the shell actuation for the forward pushing motion. Only problems would be how much weight the solenoid mechanism would require to roll the sphere to the correct angle, and how well a non-hemispherical panel would be at producing forward locomotion when tilted. I can't wait to see what solution you come up with. But those two forms of sphere locomotion are the only two that I know of that don't use some kind of wheel setup to drive the sphere, or a smaller robot within a shell (like a sphereo) to drive the outer shell like a hamster ball. There are some other experimental forms of producing locomotion, but I personally haven't seen these, and the concepts are way too complex, and heavy, for what you're trying to build.

@CarlBugeja

4 жыл бұрын

Definitely agreed with what you said. Getting the robot to just roll is feasible with the technique I am using.. But controlling it to go straight for example is not going to be that easy and tbh I'm still not sure if it's possible

You are amazing

Hey! I would love to build this myself once ist done, will you post instructions etc. On Hackaday?

@CarlBugeja

4 жыл бұрын

I have uploaded all the open source files on hackaday.io

As for the rolling other answers seems valid, but maybe you could add accelerometer and gyro, and with that you could manipulate leg so it keeps stable position on its side without the need of shifting center of mass?

@CarlBugeja

4 жыл бұрын

It has an imu onboard already.. I will have to experiment with that a little further

Soooo cooool - I love it.....😍🤩🤩🤩🤩

thats nice, very nice, ,,, coool

hey what if make micro mechanical things~ used electro-deformation of material as a muscle (micro too)?

CUUUTE!

@Rottedlucky

2 жыл бұрын

Its a lil baby rolly ball

I want you to make a bigger and more advanced version of this

hey, really awesome project:) looks like you put a ton of work in there. How much could you scale it, what do you think? how big could the ball get? keep on with the good work:)

@CarlBugeja

4 жыл бұрын

Thanks! Make it larger is not the problem haha getting it smaller is the real challenge

@jaugretler9140

4 жыл бұрын

@@CarlBugeja alright, thank you:) I just thought, that maybe with more space/volume at your disposal it would maybe be easier to get a more precise ball shape. Because there might be a wider spectrum of usable servos, if they don't have to be that tiny/light. But it was just a random thought:)

is it possible to buy such thing?

How does the robot know if it is moving anywhere? You should add some sort of motion detecting to the robot. So that way when you tell it to roll in a direction it can tell what way it is facing and if it is achieving its goal, which is to move in the given direction.

@CarlBugeja

4 жыл бұрын

It's already has an imu sensor 🙂 it's not reading its data yet though

For it to walk better you maybe need to add friction pads on those legs, for legs to slip less

You could try making a simulated version in Unity then having a neural network drive the walking. After it figures out the algorithm load it on the ball :D

How can we model or simulate , walking /rolling - might make for faster, more educated iteration ?

@CarlBugeja

4 жыл бұрын

There's alot of ways you can do it 🙂 the one I showed is from back when I was at uni and it was done with matlab

Can you train with RL like PPO

Sooo can i buy one?

WHERE HAVE YOU BEEN!!!!!!!!!!!!!!!!!!!!!!!!!!! THANKS KZread THIS GUY IS GREAT

Please make a smallest digital cube.

I think maybe you could make it roll by having four weights. To roll it pushes the weight out from the core in a sequence without having the legs move

Can you just make it walk with its four legs, instead of making it roll? I think to make it roll, you need to make the center of mass near its central axis where it rolls on. Also, to make it walk, small rubber feet might help. Maybe add tiny chunks of sugru on the toes.

what microcontroller you are using

@CarlBugeja

4 жыл бұрын

CYBLE-022001-00

Hi, can you please tell me what is the bluetooth of wifi module used in your robot, thanks?

@CarlBugeja

4 жыл бұрын

CYBLE-022001-00 BLE module

@08acbest

4 жыл бұрын

@@CarlBugeja Thank you, also, would you be so kind to publish the schematics of your open source project, I only found STL and Gerber files. Thanks

Sir please can you tell what is your education

I think if you make the legs stick out more it wouldve made the walking much better also covering the circuit would look nice

Is like a music instrument of percution , castañuela española , bery cool your projet

Got to Set up a Code to calibrate the Servo and Move the Servos to get the Values and the Value of how you want it to Stand up , Walk

I think inner load is so heavy for bot cuz legs are short and body is very light as compared to inner circuit stuff but I liked it very much

@shivampatel442

4 жыл бұрын

But it's awesome I liked it very much

First ever real life poke ball. Now just to make something pop out of it.

@dr.rajasaurusandunclebonec6526

4 жыл бұрын

Exept you train the ball itself and not the pokemon inside!

@ifyoureadthisv1

4 жыл бұрын

It’s a Voltorb!

To get the 4b to roll use a counter weight design and have the motors to move the weight in the direction u want 4b to roll and have the motors to center the weight and or counter the weight just enough to get it to stop if ur smart enough and have the patience program it to become self learning so it will save u some time programming every little detail hope this gives u an idea

it rolls, walks (kinda)... but can it talk ?

I wonder how it would function if it used a common 3D printer plastic like PLA instead of the flexible Nylon.

@CarlBugeja

4 жыл бұрын

It would be less flexible for sure

Cooool

If someone writes simple AI then it would be an awesome pet

Nice progress so far, im really sure you know the morph hex robot (by Zenta), but in case you dont: it's a really nice hexapod that can morph into a sphere and roll. He's using the sensors quite extensively while rolling :) Here is one of the videos: kzread.info/dash/bejne/npZntMuqYJnMhqw.html i think watching the movements carefully can be really helpful when you create your own algorithm, or maybe you can get hands on Zenta's code :P good luck!

Didn't the movie "Vexille" have attack robots just like this. They were fired from a Canon in sphere form...

I think you simply need to make it a bit bigger to get 4b to close properly

Me: plays a game of ping pong The ping pong ball:gets up and walks away Me:😐

👏👏👏

Pcb bearing. Imagine the ideas.

I think the robot doesn't roll due to it's lower center of mass. I think you should make it exactly at the center of the sphere...

Why not use magnet to make the legs close perfectly

look up the MorpHex made by a youtube channel named "Zenta", he did something very similar with a hexapod robot a couple of years ago and at a much larger scale, but you can probably take some inspiration from it to make the ball form work better

@CarlBugeja

4 жыл бұрын

I actually did! MorpHex is one of the main inspirations for this project 😊

@EMILE12345678901

4 жыл бұрын

@@CarlBugeja nice to know! Would probably need to break the 6cm barrier tho to add 4 extra legs on top right?

@CarlBugeja

4 жыл бұрын

@@EMILE12345678901 for sure

So you made a small morphex robot

So close to droideka

You need it to be more round and more heavier so it will roll

Your Awesome Dude

I feel like the robot has a better chance of rolling if you have the rolling motion slower

Maybe if the bot had a spheriod shape, it would be able to roll?

@CarlBugeja

4 жыл бұрын

I think so yes 🙂

1:35 an angry boi

Put that battery 4° right will Rolling good

Kawai robot

for more clickbait power, alter the shape+color to a pokeball :D

Now u can catch pokemon?

It sounds like a train