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Ameridroid OWEN Install Manual

Walking robot
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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
OWEN Walking Robot Install Guide

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Summary of Contents for Ameridroid OWEN

  • Page 1 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.
  • Page 2 Perform the exact same installation procedure for the second pelvis servo. ODROID INSTALLATION These instructions apply to the ODROID-C0. OWEN can also use the ODROID-C1, C1+ or C2, but the ODROID-UPS module must be added to provide battery power. Before installing the C0, it is necessary to solder the GPIO header to the C0 first. It is also recommended to solder on the USB ports.

  • Page 3: Battery Installation

    Place the battery in the battery holder at the back of the pelvis with the connector wire facing up. Connect the connector wire to the C0. It is recommended to charge the battery during installation 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.
  • Page 4 Connect the servo arms to the servos using the provided screws. IMAGING THE CARD If you didn't purchase the preimaged eMMC or microSD from ameriDroid.com, you will need to image it yourself. You can download the image from http://video.respectech.com:8080/video/imgs/robot-owen.zip. Decompress the image and write it to your media using the instructions at http://ameridroid.com/p/faq.
  • Page 5 (tablet/phone/laptop/desktop/etc.), open a browser and type: http://1.2.3.4 Replace 1.2.3.4 with the portion listed after "inet addr:" in the ifconfig results above. You should now be greeted with the robot's control interface in the browser. Scroll down to the calibration settings. Adjust the servo positions until both feet are level and facing directly forward.
  • Page 6 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.
  • Page 7 As you can see, there are 4 numbers. These numbers represent the Left Hip, then the Left Ankle, Right Hip, and then Right Ankle all in that order. If we wanted Owen to twist his ankles we would change the 0 values in these positions: [* 0 * 0]. If we wanted him to move his hips we would change the 0 values in these positions: [0 * 0 *].
  • Page 8 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.

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