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[Music]

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That was a bit too loud this time. Can

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we get like a a quieter woo? Just like a

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woo. Nice. Nice. Well done. No, I'm just

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kidding. Get very excited for our next

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and final speaker of this afternoon in

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this room. Um, I'm very, very excited to

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hopefully see this thing move. Please

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give a very, very loud and warm welcome

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for the amazing Haley Bartlett and

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Kinchi, the bestest boy.

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[Applause]

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Hello everybody. Uh,

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welcome back to those who saw me present

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in the student showcase. I'm actually

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presenting my other project today called

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Pinchy the Bestest Boy. So, for those

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who don't know me, my name is Haley

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Bartlett. Uh, I took a gamble on what

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side of the stage I'd be standing on,

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and it looks like I lost.

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Yeah. So, I'm a year 12 student back in

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the ACT at Bergman Anglican School, and

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this is my first ever pyon.

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Thank you. Yeah. So, some a little bit

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of information about me. Uh, mandatory

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social plug. Uh, please hire me. I'm

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like really good at this stuff, I swear.

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Uh, second fun. Oh, fun fact number one.

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I think bugs are really cool. Like the

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insects. Yeah. Uh, like the insects, not

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the coding bugs. Those are just really

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annoying. Uh, they get a bad rap cuz

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like people think they're creepy and

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crawly, but I think those people are

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wrong. Uh, so second fun fact, I play a

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lot of D and D. Like a lot a lot of D

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and D. It's kind of a problem. Both of

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these are main contributors to our story

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today. So, what is Pinchy? Pinchy is a

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Pinchy is a six-legged walking robot

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based off of a scorpion. You might be

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asking, why did I go with a scorpion and

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not something like a dog? Uh, the real

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the answer is Boston Dynamics already

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took the dog and I don't want them to

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sue me. So

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uh today I will be talking about where I

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got the idea for Pinchy as well as the

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different iterations I've gone through

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over the years of working this project

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as well as the final build as well as

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the successes and failures throughout

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this process and a little bit of

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foreshadowing. There's a lot of failures

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and we'll cover them all.

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Yeah.

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So,

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here's the reason. There's a couple

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reasons I made Pinchy. The first and

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main reason is I wanted to.

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[Applause]

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Robots are cool. Everyone can agree on

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that. And I wanted a robot of my own.

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The second reason was people suck. And

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so, I wanted

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people suck. So, I wanted a robot to

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replace all my real life friends and

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family so I could

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Sorry, guys.

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So, I could ignore all that icky human

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social interaction.

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The third and the third reason, my

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teacher bet me I couldn't.

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Spite is an amazing motivator and it has

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carried

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it has carried me through the last 2

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years and 700 hours of working on this

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project.

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So picture this. This is kind of the

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start of Pinchy uh back in uh 20 uh

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2023. So picture then uh CO is still a

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big deal. Everyone's wearing masks. I'm

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about a foot shorter and have about a

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foot less hair.

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Uh, my friend comes up to me and goes,

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"Hey, Haley, you should join the IT

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class. The teacher is pretty cool and

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it's better than Indonesian, which is

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what you were doing before."

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So, I decided to move uh I decided to

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join the IT class and we were working

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with these little things called

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micro:bits. Uh, they and I thought to

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myself, hey, these are pretty cool. So I

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decided to com like because I joined in

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the middle of the year I decided to

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complete the entire previous semester's

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classwork in the first 3 weeks because

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that was the logical thing to do.

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Uh then after that we moved on to

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working on robotics with micro:bits

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plugging in different components uh

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making things interact with the real

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world and I thought huh this is even

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cooler. How does it keep getting cooler?

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So, at the end of our robotics um unit,

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we started doing a final project. So, I

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decided to make a walking robot cuz no

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one in the class had had made one yet,

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and I wanted to be the first. So, I

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plugged in 12 of those little 9 g servos

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as well as some foam core that I put

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together on the weekend and made a

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little walking robot. It didn't

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technically walk, but it crawled, which

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was I thought was the coolest thing. Uh,

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you may notice that the cable management

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isn't really good at all. Just a

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warning, that doesn't get better.

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So, moving forward to the start of year

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11. There's a bit of a time skip there

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because apparently there's stuff in the

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IT curriculum other than just robotics.

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So, uh, I made some really big

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advancements with this one. So, the

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first one is I actually downgraded from

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12 servos to eight. So, I only had four

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legs. Uh, this was still using the same

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kind of two servo design. So, I was able

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to get like a this motion and oh, I'll

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move over here. Like a this motion and

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like a this motion cuz that's all you

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need for a leg, right?

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So, with those four legs, I was able to,

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pardon me, I was able to like create

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another crawling robot, but I

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implemented 3D printing this time

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around. So, that was a really cool and

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big change for me because I was able to

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like create a thing that could possibly

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lift itself off the ground and support

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its own weight. Um, I also moved over to

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using an Arduino instead of a micro:bit.

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So, that allowed me to have better

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control of all the servos as well as

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like be able to use the joystick to

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control it instead of just importing new

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code every time I wanted it to move

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differently.

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At the end of year 11, I fined up

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getting some more IT budget and I was

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able to buy two more servos. So that was

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I was able to buy enough servos to build

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two more legs as well as a point lighter

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that's kind of on the front down there

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if you can see it beneath all the

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cables. I was still using Arduino at

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this point, but I was um I moved over to

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controlling it with an infrared sensor

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rather than just um using a joystick

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that was already built into it. Moving

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forward onto this year, I uh I made some

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major changes. I moved from like this

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six-legged little bug creature into an

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actual scorpion. So, I had uh two claws

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at the front as well as a tail, which

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I've kept forward into this new design.

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I was still using that two servo leg uh

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design, but uh

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yeah, but I actually did cutouts on

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this. I did cutouts in the main body of

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this one so that the legs would be a

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wouldn't contact uh the body while they

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were moving which is a main problem

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major problem I had in the previous

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iterations. And onto the final one which

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is the one I'm presenting to you today.

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I scrapped those old uh two servo leg

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designs and replaced them with a three

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servo one which allows it to better

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mimic the movement of a scorpion as well

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as I redid all the body so it's like um

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three segments instead of a two segment

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thing so that it's hopefully stronger as

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well as being able to like mount all of

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the things more efficiently. So when

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designing Pinchy there were four main

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sections that I considered. The first

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was the electronics of it all. So that

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was like the power system as well as

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like the I squared C that controlled all

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the servos. So electronics was basically

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just the servos and the sensors. The

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next thing was the programming. So I

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implemented ROSS 2 Jazzy so I could um

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get all of the different components to

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talk to each other and I did it all on a

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Raspberry Pi. The next thing was uh the

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actual body design of it all. So, the 3D

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models of everything, making sure

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everything fit together and that it was

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actually designed to look like a

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scorpion. The fourth and final one is

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the physics of it all. So, that's like

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the making sure the to the servos have

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enough torque for to lift the body as

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well as the different walking gates you

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can do with a six-legged robot. With the

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electronics, um you can see on the right

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there I have my servo diagram. The two

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microcontrollers are plugged into the

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Raspberry Pi using the I squed C um

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single line bus, which is basically you

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can connect a bunch of different um

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components all in a series line. And the

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way the Raspberry Pi like talks to each

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one of them is by using a different

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address for each one so that they only

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listen to the like commands sent to

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them. The reason I used these driver

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boards is so that I could actually

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control all of the different servos cuz

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I've got 25 servos on this thing, which

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is kind of a lot. So,

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yeah. So, even if I tried to plug that

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into a regular Raspberry Pi, I wouldn't

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be able to. There's simply not enough

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pins, and there's just not enough

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clocks. Even if there was, there's not

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enough clocks on the Raspberry Pi for me

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able to control them all. So, that's why

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I ended up using the driver boards.

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You can see at the bottom there, I've

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put in uh different power sources for

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each thing. So, I've basically got it

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set up. So, I have two of the little um

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no, sorry, I have one little power

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packet with four AA batteries in it. And

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I have one of those for every two legs

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or both the claws and the tail. So, I

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have this segmented design because that

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solves the previous problem I had where

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I only had one power system, but that

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would leave all of the different legs

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and things fighting for power. So, I

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ended up going with this one so that I

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could like avoid the problem where all

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the servos would just jitter out because

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they don't have enough like power

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individually. Uh, the next thing is the

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the next thing is the sensors. So on

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this new one, I have a LAR sensor, which

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is basically a distance sensor that uses

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light to tell how far things are away.

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By sending out a laser that contacts

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with a surface far away that reflects

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back into the lens, it's able to use the

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time taken for that divide by the

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distance of or the speed of light and

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that will give you the distance away

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from that object. So, in the previous

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one, I used a point lighter so that I

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was able to only tell the distance of

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the thing directly in front of me. But

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with this new version, I used a

267
00:10:55,839 --> 00:11:00,240
rotational lighter, which basically

268
00:10:58,000 --> 00:11:02,560
allows you to do the same thing, but it

269
00:11:00,240 --> 00:11:04,399
spins as well. So, you can sense all the

270
00:11:02,560 --> 00:11:06,240
things in the room around you. And that

271
00:11:04,399 --> 00:11:09,839
outputs a point cloud that looks a

272
00:11:06,240 --> 00:11:12,079
little something like this. So that is

273
00:11:09,839 --> 00:11:14,240
you can see over there you have the four

274
00:11:12,079 --> 00:11:16,000
room like walls of the room as well as

275
00:11:14,240 --> 00:11:18,320
like some different obstacles in front

276
00:11:16,000 --> 00:11:21,360
of the robot. So like a column or a

277
00:11:18,320 --> 00:11:24,560
chair or something. Uh moving on to the

278
00:11:21,360 --> 00:11:26,720
programming, I used Ross.

279
00:11:24,560 --> 00:11:29,040
So ROSS stands for robot operating

280
00:11:26,720 --> 00:11:31,120
system which is kind of misleading cuz

281
00:11:29,040 --> 00:11:33,839
it actually sits on top of the operating

282
00:11:31,120 --> 00:11:36,399
system you already have. Because so for

283
00:11:33,839 --> 00:11:39,519
my one, Ross is sitting on top of Abuntu

284
00:11:36,399 --> 00:11:41,200
Linux and what it does is it allows all

285
00:11:39,519 --> 00:11:43,600
of the different components to talk to

286
00:11:41,200 --> 00:11:45,839
each other and run in parallel rather

287
00:11:43,600 --> 00:11:49,519
than just having to work independently

288
00:11:45,839 --> 00:11:53,519
of one another. So the way Ross should

289
00:11:49,519 --> 00:11:55,600
work is you have the uh different nodes

290
00:11:53,519 --> 00:11:58,000
that all talk to each other. So each of

291
00:11:55,600 --> 00:12:00,160
these different nodes is what is

292
00:11:58,000 --> 00:12:02,399
something like the LAR sensor or the

293
00:12:00,160 --> 00:12:04,240
different or the servo drivers and then

294
00:12:02,399 --> 00:12:06,639
they come together to talk to each other

295
00:12:04,240 --> 00:12:08,959
about topics. And these topics are

296
00:12:06,639 --> 00:12:10,399
things like the uh a slam algorithm

297
00:12:08,959 --> 00:12:14,399
something where that takes multiple

298
00:12:10,399 --> 00:12:16,880
inputs and outputs a specific action. Uh

299
00:12:14,399 --> 00:12:20,639
this is what they're meant to look like.

300
00:12:16,880 --> 00:12:24,880
Uh mine looks like this.

301
00:12:20,639 --> 00:12:28,240
So this is the AI gener uh this is the

302
00:12:24,880 --> 00:12:30,639
automated generated output of what my uh

303
00:12:28,240 --> 00:12:32,399
node graph is meant to look like. You

304
00:12:30,639 --> 00:12:34,560
can see there it doesn't actually look

305
00:12:32,399 --> 00:12:37,680
very good. It also doesn't get much

306
00:12:34,560 --> 00:12:39,920
better if you zoom in at all. Like some

307
00:12:37,680 --> 00:12:42,560
of it is legible but most of it is

308
00:12:39,920 --> 00:12:45,120
definitely not. If anyone knows how this

309
00:12:42,560 --> 00:12:47,200
works, please come talk to me. I'm so

310
00:12:45,120 --> 00:12:49,839
confused.

311
00:12:47,200 --> 00:12:51,600
Uh, moving on to the actual SLAM. So,

312
00:12:49,839 --> 00:12:53,279
I've mentioned it a couple of times, but

313
00:12:51,600 --> 00:12:55,279
SLAM stands for simultaneous

314
00:12:53,279 --> 00:12:57,600
localization and mapping, which is

315
00:12:55,279 --> 00:13:00,399
basically where the the robot being able

316
00:12:57,600 --> 00:13:03,519
to scan the room and know where it is in

317
00:13:00,399 --> 00:13:05,360
the room at every given time. That's

318
00:13:03,519 --> 00:13:08,680
kind of really I'm going to have some

319
00:13:05,360 --> 00:13:08,680
water. Sorry.

320
00:13:11,839 --> 00:13:18,959
So, the way slam works is it's uh it's

321
00:13:16,959 --> 00:13:20,560
really easy to tell like where you are

322
00:13:18,959 --> 00:13:22,480
in a room if you only have one reference

323
00:13:20,560 --> 00:13:24,480
frame. Like, if your lighter only does

324
00:13:22,480 --> 00:13:26,000
one loop and the robot hasn't moved,

325
00:13:24,480 --> 00:13:27,519
you're kind of the robot's always going

326
00:13:26,000 --> 00:13:29,200
to be in the middle of the map. So, it's

327
00:13:27,519 --> 00:13:31,600
pretty accurate. But, as soon as the

328
00:13:29,200 --> 00:13:33,920
robot takes a step forward, all of that

329
00:13:31,600 --> 00:13:36,320
odome all of that data can kind of go

330
00:13:33,920 --> 00:13:38,399
into the garbage because none of it is

331
00:13:36,320 --> 00:13:40,399
in reference to where you are currently.

332
00:13:38,399 --> 00:13:42,079
So slam solves that problem creating

333
00:13:40,399 --> 00:13:43,920
like a bridge between the different

334
00:13:42,079 --> 00:13:47,600
reference frames and it does this using

335
00:13:43,920 --> 00:13:49,279
odometry data. So for a wheeled robot it

336
00:13:47,600 --> 00:13:52,720
might count the number of re wheel

337
00:13:49,279 --> 00:13:56,800
rotations and like use those to build

338
00:13:52,720 --> 00:14:01,519
different uh sorry and use those to

339
00:13:56,800 --> 00:14:03,600
build uh a map based on that.

340
00:14:01,519 --> 00:14:06,079
Now this would work really well in an

341
00:14:03,600 --> 00:14:08,240
ideal world but unfortunately we don't

342
00:14:06,079 --> 00:14:11,279
work in an ideal world. We live in a

343
00:14:08,240 --> 00:14:13,680
world where odometry and LAR sensor data

344
00:14:11,279 --> 00:14:15,920
isn't perfect. So the way SLAM solves

345
00:14:13,680 --> 00:14:18,320
this is by using a thing called loop

346
00:14:15,920 --> 00:14:22,720
closure, which is basically where the

347
00:14:18,320 --> 00:14:26,839
robot can tell where different um

348
00:14:22,720 --> 00:14:26,839
Sorry, my bad. Uh

349
00:14:27,519 --> 00:14:33,760
so for example, if the robot is on one

350
00:14:30,560 --> 00:14:35,519
side of the column and is on one side of

351
00:14:33,760 --> 00:14:37,680
a column, it can't see around the other

352
00:14:35,519 --> 00:14:39,839
side of it. But if it walks to the other

353
00:14:37,680 --> 00:14:42,720
side of that column, um it will then

354
00:14:39,839 --> 00:14:45,440
superimpose that pre that new data onto

355
00:14:42,720 --> 00:14:47,519
the old data to create a fuller map. The

356
00:14:45,440 --> 00:14:50,720
way these nodes work is they basically

357
00:14:47,519 --> 00:14:53,600
create um each node is a landmark or a

358
00:14:50,720 --> 00:14:55,120
feature within the map. So one might be

359
00:14:53,600 --> 00:14:56,639
on one side of the column and another

360
00:14:55,120 --> 00:14:58,800
node might be on the other side of the

361
00:14:56,639 --> 00:15:00,560
column. An edge is something that

362
00:14:58,800 --> 00:15:02,320
connects two of those columns. So an

363
00:15:00,560 --> 00:15:05,279
edge might be the value of the odometry

364
00:15:02,320 --> 00:15:07,440
data between those two locations. When

365
00:15:05,279 --> 00:15:09,600
you're working with loop closure, what

366
00:15:07,440 --> 00:15:11,839
it does is it tells if two nodes are

367
00:15:09,600 --> 00:15:13,839
actually at the same location. So if the

368
00:15:11,839 --> 00:15:16,240
robot walks around that column back to

369
00:15:13,839 --> 00:15:18,240
its original location, SLAM will notice

370
00:15:16,240 --> 00:15:20,480
that, hey, these two locations are in

371
00:15:18,240 --> 00:15:23,600
the same spot. So it will adjust the

372
00:15:20,480 --> 00:15:27,199
length of those edges,

373
00:15:23,600 --> 00:15:30,399
pardon me, so that the two places are in

374
00:15:27,199 --> 00:15:33,040
the same location on the map.

375
00:15:30,399 --> 00:15:36,160
So, I've talked before a little bit how

376
00:15:33,040 --> 00:15:40,880
this is where I got my start with using

377
00:15:36,160 --> 00:15:43,680
navigations, using a bit of um AAR to

378
00:15:40,880 --> 00:15:46,560
get my old project to navigate through

379
00:15:43,680 --> 00:15:48,880
the world around it. So, what this one

380
00:15:46,560 --> 00:15:51,199
did uh what this one did is it had a

381
00:15:48,880 --> 00:15:53,199
point lighter. So, instead of having a

382
00:15:51,199 --> 00:15:54,560
rotational one, it only had one at the

383
00:15:53,199 --> 00:15:56,560
front. So, it could only tell what was

384
00:15:54,560 --> 00:15:58,959
directly in front of it. To solve this,

385
00:15:56,560 --> 00:16:02,240
I basically made Pinchy spin in a

386
00:15:58,959 --> 00:16:03,920
circle. So it create it was its own uh

387
00:16:02,240 --> 00:16:06,880
lighter.

388
00:16:03,920 --> 00:16:08,480
So I'm going to show you a video where

389
00:16:06,880 --> 00:16:11,040
Pinchy has finished spinning in a

390
00:16:08,480 --> 00:16:13,279
circle. It then sends all of that data

391
00:16:11,040 --> 00:16:15,279
over to my laptop which creates a map

392
00:16:13,279 --> 00:16:17,279
and then you pick a location on that map

393
00:16:15,279 --> 00:16:20,800
which then sends the data back to Pinchy

394
00:16:17,279 --> 00:16:22,480
and it will walk to that location.

395
00:16:20,800 --> 00:16:24,959
So if you can see there it's just

396
00:16:22,480 --> 00:16:27,600
finishing up

397
00:16:24,959 --> 00:16:30,240
and then it has created a small map on

398
00:16:27,600 --> 00:16:32,959
my laptop. This was from like a year ago

399
00:16:30,240 --> 00:16:35,839
though, so I'm very proud of year 11 and

400
00:16:32,959 --> 00:16:38,240
me.

401
00:16:35,839 --> 00:16:40,720
Thank you.

402
00:16:38,240 --> 00:16:42,560
Uh, so on that map, it's kind of hard to

403
00:16:40,720 --> 00:16:44,160
see, but on the right side, you can kind

404
00:16:42,560 --> 00:16:45,680
of see the four walls of the room I was

405
00:16:44,160 --> 00:16:49,759
in. And on the left side, you see that

406
00:16:45,680 --> 00:16:52,399
denser cluster, which is um the hallway

407
00:16:49,759 --> 00:16:57,600
I was in when I recorded this.

408
00:16:52,399 --> 00:17:00,639
So moving moving along uh

409
00:16:57,600 --> 00:17:03,839
uh with this current version I've tried

410
00:17:00,639 --> 00:17:05,760
to implement a proper slam algorithm so

411
00:17:03,839 --> 00:17:07,919
it's able to actually reference

412
00:17:05,760 --> 00:17:10,799
different frames and be able to navigate

413
00:17:07,919 --> 00:17:12,640
between the two. Unfortunately it didn't

414
00:17:10,799 --> 00:17:16,400
work.

415
00:17:12,640 --> 00:17:19,439
So the slam toolbox which was the topic

416
00:17:16,400 --> 00:17:22,799
oh not the topic the actually sorry my

417
00:17:19,439 --> 00:17:25,280
bad it was the topic the topic that was

418
00:17:22,799 --> 00:17:28,000
being used to create the slam map um was

419
00:17:25,280 --> 00:17:29,760
failing to compute the odometry data. So

420
00:17:28,000 --> 00:17:31,760
this basically led to all of the

421
00:17:29,760 --> 00:17:34,880
different nodes being placed one on top

422
00:17:31,760 --> 00:17:36,960
of the other. So it ended up just uh

423
00:17:34,880 --> 00:17:38,880
failing to create a map cuz there was no

424
00:17:36,960 --> 00:17:41,360
edges. So there was no loop closure and

425
00:17:38,880 --> 00:17:42,720
it just failed to do like do anything

426
00:17:41,360 --> 00:17:45,440
from there.

427
00:17:42,720 --> 00:17:47,520
If anyone knows how Slam Toolbox works

428
00:17:45,440 --> 00:17:49,840
and how I can fix this, uh, please talk

429
00:17:47,520 --> 00:17:52,640
to me. That'd be great. I'd like to get

430
00:17:49,840 --> 00:17:55,039
this working at some point. So, moving

431
00:17:52,640 --> 00:17:57,360
on to the physical design of it. Uh,

432
00:17:55,039 --> 00:17:59,120
Pinchy is 3D printed in this newer

433
00:17:57,360 --> 00:18:02,160
version, like I mentioned before, that

434
00:17:59,120 --> 00:18:04,640
allows me to create uh complex pieces of

435
00:18:02,160 --> 00:18:08,000
my own design that have the ability to

436
00:18:04,640 --> 00:18:10,080
lift itself up. Uh, underneath that mess

437
00:18:08,000 --> 00:18:12,080
of cables, you can see the three

438
00:18:10,080 --> 00:18:14,400
segmented body. Uh those are all

439
00:18:12,080 --> 00:18:15,919
connected with biscuit joins uh which I

440
00:18:14,400 --> 00:18:18,720
thought would be structurally stable

441
00:18:15,919 --> 00:18:21,200
enough. Uh that comes up later by the

442
00:18:18,720 --> 00:18:23,760
way. So remember that. It's a tool

443
00:18:21,200 --> 00:18:26,960
that'll help us later.

444
00:18:23,760 --> 00:18:29,520
Moving on, we have the claws that I

445
00:18:26,960 --> 00:18:31,840
modeled after an actual scorpion claw.

446
00:18:29,520 --> 00:18:34,559
So they have one movable finger and one

447
00:18:31,840 --> 00:18:36,720
stationary finger. This allows the servo

448
00:18:34,559 --> 00:18:39,679
to output all of the force to one

449
00:18:36,720 --> 00:18:41,760
location rather than having to put like

450
00:18:39,679 --> 00:18:44,880
distribute it across multiple different

451
00:18:41,760 --> 00:18:46,720
pinches. Uh I designed the claws so that

452
00:18:44,880 --> 00:18:48,640
when they were perpendicular to the

453
00:18:46,720 --> 00:18:50,720
pinchie's body, they would meet in the

454
00:18:48,640 --> 00:18:52,320
middle and be parallel. So when at rest,

455
00:18:50,720 --> 00:18:54,080
it would kind of just sit like an actual

456
00:18:52,320 --> 00:18:56,240
scorpion.

457
00:18:54,080 --> 00:18:58,480
On the side there, you can see the legs

458
00:18:56,240 --> 00:19:01,120
that have like three kind of four

459
00:18:58,480 --> 00:19:03,280
segments. So,

460
00:19:01,120 --> 00:19:06,320
I've got with the leg design, I've got

461
00:19:03,280 --> 00:19:08,720
it so that um Pinchy can move pretty

462
00:19:06,320 --> 00:19:11,200
similarly to an actual scorpion. Uh the

463
00:19:08,720 --> 00:19:13,360
base one on the top left is actually the

464
00:19:11,200 --> 00:19:16,000
hip. So, that allows Pinchy to move in

465
00:19:13,360 --> 00:19:18,160
like this direction. So, the legs can

466
00:19:16,000 --> 00:19:19,760
move forward and backward. Then, I've

467
00:19:18,160 --> 00:19:22,080
got the middle one, which I call the

468
00:19:19,760 --> 00:19:24,559
feur, which allows Pinchy to move up and

469
00:19:22,080 --> 00:19:27,520
down, which is the same motion that it

470
00:19:24,559 --> 00:19:29,039
had uh back when it only had two servos.

471
00:19:27,520 --> 00:19:31,200
What I've added to this one is I've

472
00:19:29,039 --> 00:19:33,280
added the tibia, which basically allows

473
00:19:31,200 --> 00:19:35,360
Pinchy to have a knee, which is pretty

474
00:19:33,280 --> 00:19:37,200
similar to what an actual scorpion has.

475
00:19:35,360 --> 00:19:39,200
Even though they have like seven

476
00:19:37,200 --> 00:19:41,760
segments, I didn't have the weight

477
00:19:39,200 --> 00:19:44,720
management to put seven servos on a

478
00:19:41,760 --> 00:19:46,960
pinchy leg. So, I I thought three was

479
00:19:44,720 --> 00:19:49,679
enough.

480
00:19:46,960 --> 00:19:51,600
Moving on to the tail. The tail is

481
00:19:49,679 --> 00:19:54,480
designed after kind of a little bit like

482
00:19:51,600 --> 00:19:56,320
a human finger almost. So in your finger

483
00:19:54,480 --> 00:19:58,240
you have two tendons, one on the front

484
00:19:56,320 --> 00:20:00,080
and one on the back. The one on the

485
00:19:58,240 --> 00:20:02,080
front is contracted when you bend your

486
00:20:00,080 --> 00:20:04,400
finger down and is released when you

487
00:20:02,080 --> 00:20:06,559
bend your finger up. Uh the opposite is

488
00:20:04,400 --> 00:20:08,799
true for the one on the back. In the

489
00:20:06,559 --> 00:20:11,919
tail, it's got that same three segment

490
00:20:08,799 --> 00:20:14,880
design with a tendon on the front which

491
00:20:11,919 --> 00:20:17,520
is controlled by a spindle. So that gets

492
00:20:14,880 --> 00:20:19,760
pulled in contracting the tail. But what

493
00:20:17,520 --> 00:20:22,000
I have is I have elastic on the back of

494
00:20:19,760 --> 00:20:25,919
it. So, in its natural resting position,

495
00:20:22,000 --> 00:20:28,559
the tail ends up standing back upward.

496
00:20:25,919 --> 00:20:30,880
Actually, before I go on to that, I put

497
00:20:28,559 --> 00:20:33,600
I ended up choosing to put a claw on the

498
00:20:30,880 --> 00:20:35,200
end of Pinchie's tail rather than an

499
00:20:33,600 --> 00:20:38,600
actual stinger because I'm pretty sure

500
00:20:35,200 --> 00:20:38,600
that's illegal.

501
00:20:38,720 --> 00:20:44,000
And I didn't want to get arrested for

502
00:20:40,559 --> 00:20:46,080
doing cool robots.

503
00:20:44,000 --> 00:20:47,919
So, I mentioned this before, but these

504
00:20:46,080 --> 00:20:50,320
are kind of the physical changes that

505
00:20:47,919 --> 00:20:52,000
Pinchy has been through. So you can see

506
00:20:50,320 --> 00:20:54,480
there how I've gone from one single

507
00:20:52,000 --> 00:20:57,200
block design to a more elegant three

508
00:20:54,480 --> 00:20:59,600
segment design for the body. Uh then

509
00:20:57,200 --> 00:21:03,280
I've got the single leg segment moving

510
00:20:59,600 --> 00:21:05,840
on to the different uh the act the more

511
00:21:03,280 --> 00:21:07,919
complex leg segments. Then I've I didn't

512
00:21:05,840 --> 00:21:10,480
have a tail before so now I actually

513
00:21:07,919 --> 00:21:13,480
have one instead.

514
00:21:10,480 --> 00:21:13,480
So,

515
00:21:16,799 --> 00:21:21,840
where I want to go with Pinchy is more

516
00:21:18,799 --> 00:21:24,000
like the image on the left with Pinchy

517
00:21:21,840 --> 00:21:26,080
with there being an enclosure around all

518
00:21:24,000 --> 00:21:28,880
of the different components rather than

519
00:21:26,080 --> 00:21:31,840
just everything being free to air, which

520
00:21:28,880 --> 00:21:34,559
means that I'd at least be like hiding

521
00:21:31,840 --> 00:21:36,000
the poor cable management.

522
00:21:34,559 --> 00:21:39,720
I wouldn't be getting so much judgment

523
00:21:36,000 --> 00:21:39,720
right now if I did.

524
00:21:39,840 --> 00:21:44,480
No judgment.

525
00:21:41,919 --> 00:21:46,159
Uh the next thing I want to do even if I

526
00:21:44,480 --> 00:21:48,640
can't hide the poor cable management is

527
00:21:46,159 --> 00:21:51,120
I want to go to PCB so that I can at

528
00:21:48,640 --> 00:21:52,799
least um because we know that the cable

529
00:21:51,120 --> 00:21:55,360
management is not getting better. It

530
00:21:52,799 --> 00:21:56,960
hasn't for the last 2 years and it's not

531
00:21:55,360 --> 00:21:58,720
going to get better in future. So if I

532
00:21:56,960 --> 00:22:01,200
just move to a system with the least

533
00:21:58,720 --> 00:22:03,280
cables possible then I avoid the

534
00:22:01,200 --> 00:22:05,200
problem. Right?

535
00:22:03,280 --> 00:22:07,600
So that's where I want to go with

536
00:22:05,200 --> 00:22:09,840
Pinchi. But talking about the physics of

537
00:22:07,600 --> 00:22:13,200
it all, uh the way torque works with the

538
00:22:09,840 --> 00:22:15,280
servo is uh say you it's proportional to

539
00:22:13,200 --> 00:22:17,840
the length of the arm of the servo. So

540
00:22:15,280 --> 00:22:22,720
say you have a servo that can output 10

541
00:22:17,840 --> 00:22:26,400
kg of force at 1 cm at at 10 cm it will

542
00:22:22,720 --> 00:22:31,600
be able to output 1 kg of for uh did I

543
00:22:26,400 --> 00:22:35,200
say 10 at the 1 cm? So if you say um a

544
00:22:31,600 --> 00:22:38,720
servo can output 10 kg of force at 1 cm,

545
00:22:35,200 --> 00:22:40,159
it can output 1 kg at 10 cm. Because you

546
00:22:38,720 --> 00:22:43,679
have 10 times the distance, you have

547
00:22:40,159 --> 00:22:45,679
1/10th one/10enth the force. Then with

548
00:22:43,679 --> 00:22:48,400
the walking gate, I've based it off of

549
00:22:45,679 --> 00:22:50,559
actual uh insectile movement. So what

550
00:22:48,400 --> 00:22:52,559
Pinchi does is called an alternating

551
00:22:50,559 --> 00:22:54,480
tripod walking gate, which I like to

552
00:22:52,559 --> 00:22:56,000
picture as two different overlapping

553
00:22:54,480 --> 00:22:57,840
triangles

554
00:22:56,000 --> 00:23:00,559
with each point of the triangle being a

555
00:22:57,840 --> 00:23:02,799
different leg. So on one side you have

556
00:23:00,559 --> 00:23:05,039
the foremost and backmost leg on one

557
00:23:02,799 --> 00:23:07,360
side being the points of the triangle

558
00:23:05,039 --> 00:23:09,760
and the middle one on the and the middle

559
00:23:07,360 --> 00:23:13,039
leg on the other side being a triangle

560
00:23:09,760 --> 00:23:14,720
being the point of the triangle. So then

561
00:23:13,039 --> 00:23:18,559
and the opposite is true for the

562
00:23:14,720 --> 00:23:20,880
mirrored uh triangle. So these basically

563
00:23:18,559 --> 00:23:23,520
act as the two steps for Pinchy being

564
00:23:20,880 --> 00:23:25,840
able to all of those legs being moved in

565
00:23:23,520 --> 00:23:27,600
sequence. So three legs are always in

566
00:23:25,840 --> 00:23:30,960
contact with the ground at any given

567
00:23:27,600 --> 00:23:32,799
time. Meaning that Pinchy is able to

568
00:23:30,960 --> 00:23:34,880
Pinchy is a like Pinchi center of

569
00:23:32,799 --> 00:23:36,559
gravity is always supported within that

570
00:23:34,880 --> 00:23:38,720
triangle.

571
00:23:36,559 --> 00:23:41,360
Moving on to the problems we talked

572
00:23:38,720 --> 00:23:43,600
about before. This is where the biscuit

573
00:23:41,360 --> 00:23:46,880
join thing that I ca that I talked about

574
00:23:43,600 --> 00:23:48,880
came in. So,

575
00:23:46,880 --> 00:23:51,120
may or I may or may not have been

576
00:23:48,880 --> 00:23:53,840
transporting Pinchy. And there may or

577
00:23:51,120 --> 00:23:57,120
may not have been Pinchy in too small a

578
00:23:53,840 --> 00:24:00,080
box. They put Pinchy um that put too

579
00:23:57,120 --> 00:24:02,320
much force on a joint that was not meant

580
00:24:00,080 --> 00:24:04,559
to take force in that direction. And it

581
00:24:02,320 --> 00:24:06,559
may or may not have delaminated the

582
00:24:04,559 --> 00:24:10,159
joint.

583
00:24:06,559 --> 00:24:12,799
Yeah, unfortunate. Um but we are still

584
00:24:10,159 --> 00:24:15,520
going to do a live demo. And if Pinchi

585
00:24:12,799 --> 00:24:18,760
dies gloriously on this stage, then so

586
00:24:15,520 --> 00:24:18,760
be it.

587
00:24:22,000 --> 00:24:25,039
So,

588
00:24:23,600 --> 00:24:27,360
I'm going to move Pinchion onto the

589
00:24:25,039 --> 00:24:30,240
floor so it doesn't

590
00:24:27,360 --> 00:24:32,799
fall into the audience.

591
00:24:30,240 --> 00:24:35,799
There we go.

592
00:24:32,799 --> 00:24:35,799
Yes.

593
00:24:41,679 --> 00:24:45,720
very quietly.

594
00:24:46,080 --> 00:24:50,559
There we go.

595
00:24:49,039 --> 00:24:53,919
It wants me to log back into the

596
00:24:50,559 --> 00:24:56,919
Raspberry Pi.

597
00:24:53,919 --> 00:24:56,919
What?

598
00:24:58,559 --> 00:25:01,559
All right.

599
00:25:01,840 --> 00:25:05,799
Just turn everything on.

600
00:25:06,080 --> 00:25:09,480
Something moved.

601
00:25:14,880 --> 00:25:19,919
This is the moment. This is when it all

602
00:25:17,360 --> 00:25:22,240
either works perfectly or it dies

603
00:25:19,919 --> 00:25:26,640
gloriously.

604
00:25:22,240 --> 00:25:29,640
Three, two, one.

605
00:25:26,640 --> 00:25:29,640
Oh,

606
00:25:29,840 --> 00:25:33,600
we saw a move.

607
00:25:30,880 --> 00:25:35,560
We saw a move.

608
00:25:33,600 --> 00:25:38,010
Oops.

609
00:25:35,560 --> 00:25:40,400
[Music]

610
00:25:38,010 --> 00:25:44,840
[Applause]

611
00:25:40,400 --> 00:25:44,840
It did in fact die gloriously.

612
00:25:45,520 --> 00:25:48,520
Yeah.

613
00:25:50,320 --> 00:25:54,720
Thank you.

614
00:25:52,080 --> 00:25:57,760
To honor Pinchie's glorious sacrifice to

615
00:25:54,720 --> 00:26:00,000
the community of PyCon. Uh I do have some

616
00:25:57,760 --> 00:26:02,640
actual footage from a previous

617
00:26:00,000 --> 00:26:04,640
demonstration.

618
00:26:02,640 --> 00:26:06,640
So, we will get to see it like properly

619
00:26:04,640 --> 00:26:09,760
walk and things. But first, on the

620
00:26:06,640 --> 00:26:11,760
right, you can see my um the LAR scan of

621
00:26:09,760 --> 00:26:15,679
the Airbnb I'm staying at. So, if you

622
00:26:11,760 --> 00:26:20,559
want to try and dox me, go for it.

623
00:26:15,679 --> 00:26:22,720
But here is the video of Pinchy walking.

624
00:26:20,559 --> 00:26:26,660
Oo.

625
00:26:22,720 --> 00:26:29,999
And then got Thank you.

626
00:26:26,660 --> 00:26:29,999
[Applause]

627
00:26:30,159 --> 00:26:36,080
Uh, I've actually got some more videos.

628
00:26:33,679 --> 00:26:38,000
So, this is one of the claws working.

629
00:26:36,080 --> 00:26:40,880
Those claws are actually really strong.

630
00:26:38,000 --> 00:26:43,360
Like that servo can output 35 kg at 1

631
00:26:40,880 --> 00:26:45,120
cm. So, if you like stick your finger,

632
00:26:43,360 --> 00:26:48,080
if it wasn't made from PLA, it could

633
00:26:45,120 --> 00:26:52,400
probably break your finger.

634
00:26:48,080 --> 00:26:56,679
So, the third and final video

635
00:26:52,400 --> 00:26:56,679
is the tail mechanism.

636
00:27:02,000 --> 00:27:08,000
All right.

637
00:27:04,880 --> 00:27:11,159
Thank you for coming to my presentation.

638
00:27:08,000 --> 00:27:11,159
Thank you.

639
00:27:11,460 --> 00:27:18,190
[Music]