I got to installing the new CM-530 in a Bioloid GP type A humanoid setup. We had two nos of Bioloid GP (Humanoid type A) using AX-12A motors for a few years. One was not working due to one DXL port (of a CM-530) not working, and other had it’s controller (CM-510) stopped working. They were just kept away for almost two years.
I ordered new CM-530 controller units and installed in one of the robots.
I programmed the default type-A humanoid program (both tasks and motion) that comes with R+Task 2.0 and R+Motion 2.0 from my Window 10 PC.
Currently, the status is as follows:
For some reason it does not respond to sound (claps) so I modified the task file to respond to remote commands and set a sequence of moves to run one after the other:
- Bravo
- Chest beating
- Scratch head
- Pushup
- Hand standing
- Clapping
- Ready (upright) position
I found that while doing ‘Bow’ move (motion index 1) it just falls on it’s face, so removed it.
Also, I noticed that the movements are a bit jittery and it shakes a lot.
I had set two other remote keys to execute ‘Left kick’ and ‘Right kick’, the left kick works fine (although occasionally the robot loses balance) but right kick never works correctly and the robot keeps falling to the right with foot in the air.
Another pair of commands ‘Block right’ and ‘Block left’ work but after they are executed it does not respond to any new commands.
So I have a few queries:
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If the Biolod robot (and it’s motors) are not used for a long time, do they have any problems?
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Sometimes I hear a sound like that of gear slipping from motors, especially the foot motors. It never happened earlier. Does this cause loss of calibration and/or accuracy of the motor?
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Some of the motions seem to run too fast, they can be slowed down a bit.
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Do we have any utility to check whether the AX-12A motor is functioning and calibrated correctly knows its position?
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I added a line to switch on gyro, but it does not seem to work that way.
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Are there any updated files (motion files in particular) that are more optimized and smoother on the motors, or have more accurate motions?
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In such case, do we need to replace any motors, although they are all detected correctly by the controller?
Thanks a lot!
Gary