{"id":3496,"date":"2018-05-02T18:14:01","date_gmt":"2018-05-02T18:14:01","guid":{"rendered":"http:\/\/dyor.roboticafacil.es\/?p=3496"},"modified":"2018-10-17T15:25:39","modified_gmt":"2018-10-17T15:25:39","slug":"ajuste-dyor-bped","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/ajuste-dyor-bped\/","title":{"rendered":"DYOR bPED Calibration"},"content":{"rendered":"<p>In this post, we explain the calibration procedure for DYOR bPED robot.<\/p>\n<p><!--more--><\/p>\n<p>Assembly of DYOR bPED robot might be misaligned with respect to the home configuration. If the misalignment is not too much, we can use the following calibration procedure so that we can adjust the correct angles by software.<\/p>\n<h3>Materials<\/h3>\n<p>In this example, we will use DYOR bPED robot (any variant will use the same procedure). In this example, the servos are connected as follows:<\/p>\n<ul>\n<li>Leg 1 (Right): Pin D4.<\/li>\n<li>Leg 2 (Left): Pin D5.<\/li>\n<li>Ankle 1 (Right): Pin D6.<\/li>\n<li>Ankle 2 (Left): Pin D7.<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-3501\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/DYOR_bPED_Pro.png\" alt=\"\" width=\"368\" height=\"368\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/DYOR_bPED_Pro.png 368w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/DYOR_bPED_Pro-150x150.png 150w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/DYOR_bPED_Pro-300x300.png 300w\" sizes=\"auto, (max-width: 368px) 100vw, 368px\" \/><\/p>\n<h3>Facilino<\/h3>\n<p>Here we show Facilino&#8217;s code to calibrate the robot.<\/p>\n<p>&nbsp;<\/p>\n<p>Once the program is uploaded, the robot should be in the home configuration as previously shown. Here we show axis directions (with a &#8220;+&#8221; sign indicating a positive angle). Legs rotate with a positive angle clockwise (seen from above), while a positive angle rotation on the left foot makes the interior part of the sole to be in contact with the ground and a positive angle rotation on the right foot makes the exterior part of the sole to be in contact with the ground.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3497 size-medium\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis-281x300.png\" alt=\"\" width=\"281\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis-281x300.png 281w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis.png 573w\" sizes=\"auto, (max-width: 281px) 100vw, 281px\" \/><\/p>\n<p>By observing the robot misalignment, we can figure out the correct angle value to adjust, so we need to introduce the opposite value to compensate the misalignment. For instance, if the right leg is rotated clockwise some degrees, we will need to compensate that with a negative value. Repeat this procedure until you have the robot properly calibrated.<\/p>\n<h4>What if the calibration values are too high?<\/h4>\n<p>In this case, it is convenient to disassemble the robot and make sure that this time the servos are properly positioned at 90\u00ba (home configuration). To make sure that the axis does not rotate while we are screwing the servo horns, we can power them, so they will have a torque against being displaced.<\/p>","protected":false},"excerpt":{"rendered":"<p>Sorry, this entry is only available in Espa\u00f1ol.<\/p>\n","protected":false},"author":1,"featured_media":3497,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[93,99],"tags":[],"class_list":["post-3496","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dyor-bped","category-facilino-ejemplo"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis.png","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":2395,"url":"https:\/\/dyor.webs.upv.es\/en\/presentamos-nuevos-modelos-en-el-ce-marni\/","url_meta":{"origin":3496,"position":0},"title":"Presentamos nuevos modelos en el CE Marni","author":"soporte","date":"Saturday December 16th, 2017","format":false,"excerpt":"Sorry, this entry is only available in Espa\u00f1ol.","rel":"","context":"In &quot;Noticias&quot;","block_context":{"text":"Noticias","link":"https:\/\/dyor.webs.upv.es\/en\/category\/noticias\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":2575,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped-laser\/","url_meta":{"origin":3496,"position":1},"title":"Assembly of DYOR bPED with Laser Cutting","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we describe the assembly of DYOR bPED (manufactured with Laser cutting). Legs and feet 1. Glue the ankle to the robot's foot. 2. Insert the ball bearing inside the hole of the back-side leg part and insert the rivet inside the ankle's hole. 3. Glue the tip\u2026","rel":"","context":"In &quot;corte_laser&quot;","block_context":{"text":"corte_laser","link":"https:\/\/dyor.webs.upv.es\/en\/category\/fabricacion\/corte_laser\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_assembly.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2570,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped\/","url_meta":{"origin":3496,"position":2},"title":"DYOR bPED assembly with TinkerCAD","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we show the assembly of DYOR bPED designed with TinkerCAD for 3D Printing. \u00a0 Components: Arduino Nano I\/O Shield (sand) Bluetooth module (dark blue) Powerbank (pink) Ultrasound HC-SR04 (light blue) Buzzer (black) SG90 Servos (dark blue) Ball bearing and rivet Instructions: We will distinguish between the servos\u2026","rel":"","context":"In &quot;DYOR bPED&quot;","block_context":{"text":"DYOR bPED","link":"https:\/\/dyor.webs.upv.es\/en\/category\/robots\/dyor-bped\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_no_background.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2557,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped-basico\/","url_meta":{"origin":3496,"position":3},"title":"DYOR bPED Basic assembly with TinkerCAD for 3D Printing","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we show the assembly of DYOR bPED Basic designed with TinkerCAD for 3D Printing. \u00a0 Components: Arduino Nano I\/O Shield (sand) Battery holder (black) Ultrasound HC-SR04 (light blue) Buzzer (black) SG90 Servos (dark blue) Ball bearing and rivet Instructions: We will distinguish between the servos required for\u2026","rel":"","context":"In &quot;DYOR bPED&quot;","block_context":{"text":"DYOR bPED","link":"https:\/\/dyor.webs.upv.es\/en\/category\/robots\/dyor-bped\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_basico.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":5411,"url":"https:\/\/dyor.webs.upv.es\/en\/disenos-2d-corte-laser-3mm\/","url_meta":{"origin":3496,"position":4},"title":"2D Robot Designs with Laser Cutting in 3mm","author":"soporte","date":"Thursday March  4th, 2021","format":false,"excerpt":"This post describes different 2D designs made with the DYOR, bPED and qPED robot and all its variants so far that can be used for the manufacture of parts by laser cutting with 3mm thickness. The DYOR robot, together with all its variants, as well as the bPED and qPED\u2026","rel":"","context":"In &quot;corte_laser&quot;","block_context":{"text":"corte_laser","link":"https:\/\/dyor.webs.upv.es\/en\/category\/fabricacion\/corte_laser\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/03\/dise%C3%B1os_dyor_corte_laser.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":6159,"url":"https:\/\/dyor.webs.upv.es\/en\/el-murcielago-bped\/","url_meta":{"origin":3496,"position":5},"title":"THE BPED BAT","author":"Jesus Conejero Rodriguez","date":"Sunday June 19th, 2022","format":false,"excerpt":"This publication explains the elaboration of a biped bat, from the design and connection to the description and demonstration of its functions. \u00a0 Design For the design of this robot, the model of a standard DYOR bPED has been used as a basis, such as the one found in the\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2022\/06\/diseno_personalizado_bPED_murcielago-1-292x300.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/3496","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=3496"}],"version-history":[{"count":7,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/3496\/revisions"}],"predecessor-version":[{"id":4281,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/3496\/revisions\/4281"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/3497"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=3496"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=3496"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=3496"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}