TigerBot P13201. Rochester Institute of Technology. Group Members. Graeme Buckley Electrical Engineer Power, Wiring, lead. Chris Atwood Mechanical Engineer CAD, Structural design. Nick Towle Computer Engineer Embedded Development. Sasha Yevstifeev Electrical Engineer
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TigerBotP13201 Rochester Institute of Technology
Group Members Graeme Buckley Electrical Engineer Power, Wiring, lead Chris Atwood Mechanical Engineer CAD, Structural design Nick Towle Computer Engineer Embedded Development Sasha Yevstifeev Electrical Engineer Controls, PCB, Rachel Lucas Mechanical Engineer CAD, Structural design
Project Description • Design and build a humanoid robot that has the ability to mimic a human walking gait. • Improve upon the mechanical designs of previous Tigerbot iterations • Provide a solid code framework capable of supporting all of Tigerbot’s functions • Develop electrical components unique to Tigerbot, providing a modular wiring system.
Design Summary • Mechanical Structure • Designed using CAD tools and stress analysis • Water jet cut aluminum • Electrical design • Two custom made PCBs • Power board and foot sensor board • Daisy chain wiring design • Computer design • Roboard w/ Lubuntu OS
Mechanical Design • 23 degrees of freedom (4 per arm, 6 per leg, 2 in the head, 1 in the torso) • Designed to be 32” at shoulder height and roughly 25 lbs. • Custom aluminum parts for a lightweight, sturdy frame • High-torque XQ servos used due to large torque requirements • Batteries placed on the back of the robot • Circuit boards recessed into the chest for a protected and central location
Software Design • TigerBot • Runs two servers • HTTP Server • Socket-based TCP Server • iPhone component • Client which connects to the Tigerbot’s servers • Web browser • Can browse pages hosted by the Tigerbot which contain key information
Software Design (cont.) • server.cpp • Runs in the background always, listens for new connections and requests from clients, spawns child threads to complete the requests. • ik.cpp • Can be used to either move the servos to a specific position, or to cause the Tigerbot to walk with specified velocity, step length, and time interval. • foot.cpp • Can be called to read in current data from the foot sensors and report that data back to its caller. • sensor.cpp • Can be called to read in current data from the magnetometer, accelerometer, and gyroscope and report that data back to the caller.
Custom PCB made for power distribution. • Provides proper voltage to all components. • Added fuse and switches for protection. • Current Sense capability for overcurrent protection. Electrical Design Custom Foot sensor PCB Custom Power Board PCB • Custom PCB foot sensor interface • Provides signal conditioning for four Flexiforce piezoresistive force sensors. • Uses 8 channel 12-bit ADC with I2C • I2C communication with Roboard reduces wiring. Lynxmotion SSC 32 SPC 5000mAh Li-Po Battery 6-axis IMU Flexiforce Sensor
Results • The TigerBot robot has been structurally completed. • The robot has been successfully fully wired including power, Servo, and sensors. • The robot as a walking algorithm that allows for assisted walking • Contributed to the further improvements of the tiger bot project • Robot cost close to $4000 due to high torque servos. Cost 60% more then the budget.
Future Improvements • Add wireless capability • Design manipulators at the end of the arms • Increase the number of peripheral sensors (IR, PING, Voice recognition)
Thank You • Questions?