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OWEN Walking Robot Install Guide

The 3D printed parts are as follows:

- Left Foot
- Right Foot
- Ankles (both are identical)
- Pelvis

Servo, arm, and screws:

FIRST STEPS

Connect the battery to the ODROID-C0. Connect a 2.5mm 5V/2A power supply to the C0. The 
green light should come on indicating that the battery is charging. Turn the C0 off if it isn't already. 
The green light should remain on indicating the battery is still charging.

ANKLE ASSEMBLY

First, install the servo arms into the ankles. The ankles have a mark pointing to one of the slots. This 
slot is for the black arms (the metal gear servo arms), while the unmarked slot is for the white servo 
arm. Use the shortest arm that only extends on one side of the servo axle collar. 

Some trimming may be needed to fit the arm in. If this is the case, hold the arm with a pair of small 
pliers and shave the sides with a razor blade testing each cut until it fits snugly. The side of the the 
servo arm that has the teeth in the servo axle opening should be facing the flat side of the ankle (the 
side opposite of the mark). Push the servo arm all the way through until the axle collar is touching 
the ankle. This can then be glued into place, or a piece of wire like a small paperclip can be bent to 
fit through two of the holes in the servo arm. This will keep the ankle from coming off the servo 
arm.(see figure above)

Next, install the white servo arm from the opposite side as the black arm, again with the toothed 

Содержание OWEN

Страница 1: ...or the white servo arm Use the shortest arm that only extends on one side of the servo axle collar Some trimming may be needed to fit the arm in If this is the case hold the arm with a pair of small pliers and shave the sides with a razor blade testing each cut until it fits snugly The side of the the servo arm that has the teeth in the servo axle opening should be facing the flat side of the ankl...

Страница 2: ...LY The portion of the pelvis with the battery holder is the back and the flat part is the bottom Insert the wires of one of the blue servos plastic gear from the bottom of the pelvis through the opening in the top of the pelvis closest to the front Insert the servo with the axle pointing down and toward the front of the pelvis Secure the servo with the two included screws Perform the exact same in...

Страница 3: ... if possible This will give OWEN more run time after installation SERVO WIRE INSTALLATION The servo wires can be routed through the body and pelvis of the robot to keep slack to a minimum However make sure to leave enough slack in the wires to allow full range of motion for the servos Connect the servo wires to the servo controller with the brown wire on the servo connector closest to the servo co...

Страница 4: ... http ameridroid com p faq The password for the above distribution is odroid2430 Now that you have an imaged media card insert it into the C0 STARTING THE ROBOT Turn on the power switch on the C0 It is normal for the servos to chatter until they are adjusted properly The screen will be solid white and then solid black until the booting process is completed Once the robot finishes booting it is rec...

Страница 5: ... are level and facing directly forward When they are set correctly there should be no chattering coming from the servos Once you are happy with the servo calibration click the Calibrate button There are a number of pre saved functions you can play with These can be executed by clicking on them There are also load and delete options that can be selected before clicking on a button in order to load ...

Страница 6: ... but the speed can also be adjusted for special effects The Calibration settings is where you should have adjusted the feet position when setting up Owen The movements are clickable commands These hold the programs you write in the Definition box If you click load before you click a command button it will just show you the code and not execute it Click 0 Start Face if the face is not up on the scr...

Страница 7: ...program name 1 HokeyPokey Left is made up of several things TipOnFoot2 Left WiggleFoot Right WiggleFoot Right 0 Reset Here looking at TipOnFoot Left we can see the raw servo positions that should be sent to the servos This also goes for WiggleFoot Right Guide for calling a command 4 numbers with spaces in between brackets is to change the servo position 0 0 0 0 A star in the brackets means to leav...

Страница 8: ...trieving data from the web Interlinking OWENs using networking commands Facial recognition and more Some of the above will require extra hardware like a bluetooth speaker or a webcam but they are all possible The entire OWEN system is open source so feel free to connect to OWEN via an SSH terminal to look around and play with things OWEN runs an open source lighttpd webserver and most of its funct...

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