Price: $2,195.95 Special Order

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    Specifications

    • Payload Capacity
    • Speed (mm/s)
    • Est. Run Time (Battery)
    • Weight
    • Height
    • Width
    • 500g
    • 129
    • 45 Min
    • TBD
    • 19cm
    • 61.5cm

    Software Features

    Hardware Features

    Special Order: 1 Week Lead Time

    The PhantomX MK-IV Hexapod is a six legged, ROS research platform featuring the Rasberry PI 4b and the DYNAMIXEL XL Series Smart Servos from Robotis. The MK-IV comes pre-assembled and tested and is fully supported in Ubuntu 20.04c / ROS Noetic (Ubuntu 18.04c and Melodic are also supported). The platform offers wifi, tethered connection and wireless via Bluetooth / Playstation 4 Control options. The MK-IV Hexapod has a payload capacity of roughly 1lb, walking speed of roughly 129mm/s (default gait) and an estimated run time on battery of 45 minutes.

    The PhantomX MK-IV is built with 18x DYNAMIXEL XL430-W250-T Smart Servos from Robotis. The DYNAMIXEL XL430-W250-T is a High Performance TTL Servo in the DYNAMIXEL X-Series. Using the Same form factor as the other 430 series servos in the X-Series line, the DYNAMIXEL XL430-W250-T has (at 11.1v) 1.4N.m stall torque, 1.3(A) stall current and a no load speed of 57 RPM. For more information on the motors click here.

    The Hexapod comes in both shelled and unshelled variations (the unshelled version does not contain the neopixel eyes feature to inform users of current state of the hexapod). 







    Built with Industry Leading Smart Servos

    The DYNAMIXEL X-Series smart servos offer features that would normally only be found on industrial level motors for a fraction of the price.

    Addressable - All servos have unique IDs allowing users to easily communicate with individual servos or groups of servos. The Shadow ID feature also allows for easy control of a second servo in dual servo joints.

    Daisy Chain - DYNAMIXEL servos are connected in a daisy chain (each servo plugged into the next in series) making them extremely scalable and easy to maintain.

    Servo Management Software - DYNAMIXEL Wizard 2.0 allows users to configure register settings such as PID gains, Control Modes (position, velocity, current, or PWM) and others. The software also provides tools for firmware updates, diagnostics, configuration and testing, data plotting, generating & monitoring DYNAMIXEL packets, and more.

    Trajectory Smoothing - Smart servos have multiple registers for setting velocity & acceleration limits, PID gains, and more for fine tuning smooth joint motions.

    Low Level Libraries Provided - DYNAMIXEL servos have libraries that abstract away the serial communication layer allowing developers to concentrate their time on higher level code.



    To make the lower-level actuator ROS wrappers able to be easily integrated into our higher-level code, we have developed an intuitive approach called the Interbotix Research Robotics Open Standard (IRROS). Every repository that builds on top of this contains a chart similar to the above generic one - but filled in with the specifics for each robot. There are five main layers: Hardware Layer - Describes the Physical Setup of the Robot, Driver Layer - The first software layer containing ROS wrappers for actuators & sensors, Control Layer - Software layer containing ROS packages per robot type, Application Support Layer - Provides Python modules or 'support-level' ROS packages and the Reseach Layer - The final software layer at which an end user programs their own code. For more information on IRROS click here.




      Software

      ROS packages for Kinetic, Melodic and Noetic on Ubuntu Linux 16.04, 18.04 and 20.04 make it easy to get started with the ViperX Pan & Tilt. Packages include full meshes and URDFs, driver node that controls the physical robot and publishes joint states as well as gazebo and moveit support. Examples are also included to show users how the core packages work.

      IRROS allows the lower-level actuator ROS wrappers to be easily integrated into higher-level code, we have developed an intuitive approach called the Interbotix Research Robotics Open Standard (IRROS). To learn more about IRROS click here.

      MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use. By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

      Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.

      Hardware

      Dynamixel Servos - The DYNAMIXEL X-Series smart servos offer features that would normally only be found on industrial level motors for a fraction of the price. Trajectory Smoothing - Smart servos have multiple registers for setting velocity & acceleration limits, PID gains, and more for fine tuning smooth joint motions. Low Level Libraries Provided - DYNAMIXEL servos have libraries that abstract away the serial communication layer allowing developers to concentrate their time on higher level code.

      Repairability - The X-Series pan & tilts are made for the lab, our platforms are intended to be worked on and we've made it as easy as possible to keep your robot up and running. Quickly and easily swap out motors that need to be replaced, everything you need to repair your platform is kept in stock, making it easy to keep your equipment up and running with minimal downtime.

      The Raspberry PI 4 - Model B features a high-performance 64-bit quad-core processor, dual-display support at resolutions up to 4k via a pair of micro-HDMI ports, hardware video decode at up to 4kp60, dual-band 2.4/5.0 GHz wireless LAN, Bluetooth 5.0, Gigabit Ethernet, USB 3.0 and PoE capability (via a separate PoE HAT add-on). The RPI4 comes with 4 GB of Ram and 32 GB Micro SD.

      Packages

      The Shelled Option - includes decorative 3D printed armor to cover the electronics of the robot. This option also includes the shelled faceplate that holds the neopixels, this works to visually see the status of the robot.

      The Unshelled Option - base hexapod kit with no electronics cover. The neopixels are also not included in the unshelled option of the MK4.

      Specifications

      MK-IV Specifications

      • Payload Capacity
      • Speed (mm/s)
      • Est. Run Time (Battery)
      • Weight (Shelled / Unshelled)
      • Height
      • Width
      • Length
      • 500g
      • 129
      • 45 mins
      • TBD
      • 19cm
      • 61.5cm
      • 54.4cm

      DYNAMIXEL XL430-W250-T

      • MCU
      • POSITION SENSOR
      • MOTOR
      • BAUD RATE
      • CONTROL ALGORITHM
      • RESOLUTION
      • WEIGHT
      • GEAR RATIO
      • STALL TORQUE
      • NO LOAD SPEED
      • ARM CORTEX-M3 (72 [MHz], 32Bit)
      • Contactless absolute encoder (12Bit, 360 [°])
      • Cored
      • 9,600 [bps] ~ 4.5 [Mbps]
      • PID control
      • 4096 [pulse/rev]
      • 57.2 [g]
      • 258.5 : 1
      • 1.5 [N.m] (at 12.0 [V], 1.4 [A])
      • 61 [rev/min] (at 12.0 [V])

      Drawings