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Design of a BIOLOID Scorpion Robot Chung, Jeng-Fan (鍾正方), Adviser: Prof. Jung-Shan Lin (林容杉) Department of Electrical Engineering, National Chi Nan University
Purpose –
The purpose of this project is to build and design a scorpion robot
using the BIOLOID kit and create a behavioral program to mimic
the movements of an actual scorpion
Approach –
1. Become familiar in assembling with the BIOLOID kit
2. Learn to program with the Behavior Control Programmer
3. Create and design a bio-robot
4. Design and program a scorpion robot
Results –
Fig. 1. BIOLOID scorpion
Conclusion and Future Works –
• Robot design successfully resembles a real scorpion
• Behavior is similar to a actual scorpion
• Installation of additional sensors for better object detection
• Installation of additional motors on pincer for more flexibility
Behavior Programming
1. Initial action: scorpion robot goes to its default initial position
2. Move forward: robot starts moving forward
3. Close object sensed in front: sensor input is analyzed and robot reacts accordingly
a. No close object is sensed: run step 2 (move forward)
b. Close object is sensed: jump to step 4
4. Crouch and attack: scorpion takes attacking position and performs the attack twice
5. Escape: after attack turn left or right depending on variables and run step 2 (move forward)
Fig. 7. Motion picture of attack
Fig. 3. Initial position Fig. 4. Crouching
Fig. 5. Preparing for attack Fig. 6. Attack
Scorpion Positions
Fig. 2. Flow chart of scorpion programming
Initial Action
Move Forward
Close Object
Sensed in Front?
No
Crouch and
Attack
Yes
Escape
Flow Chart
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