Erik Johnson Richard Manning 1 Slide 2 To Design a robot for
entertainment purposes that has the ability to walk in a straight
line and make turns. 2 Slide 3 Previous bipedal robots have been
created at several prestigious institutes, including the Waseda
University in Japan Most designs utilize a mechanism that uses the
torso of the robot as a counterweight Robots based on these designs
include toys and research test beds The first bipedal robot created
was the WABOT 1 At the Waseda Institute 3 Slide 4 The legs of the
robot shall not exceed 4 lbs. The robot shall maintain a walking
speed of 1 step every 5 seconds. The robot shall not exceed a
turning radius of 5 feet. The robot shall have a counterbalance
system to balance the robot during the walking stage. The robot
shall have a leg turning system that is able to turn the legs for
normal walking and for turning. The robot shall have an enclosed
electrical box containing the electrical circuits which shall
physically not interfere with the operation of the robot. The robot
shall incorporate an electrical control system to govern the robots
movements and make adjustments based on feedback from sensors
mounted on the robot. 4 Slide 5 Style of Movement
AdvantagesDisadvantages Passive Dynamics Requires little or no
electrical controls Current research is very expensive and robots
are limited to down grades Driven Pneumatics Fewer components to
time and synchronize Larger pistons required to operate the unit
Driven Electrical Motors Many types of motors and controllers to
chose from Heavy electrical power source required and adequate
controllers Hybrid Counterweight Lessens the power of the pistons
doing the work More components to synchronize 5 Slide 6
DESCRIPTION/ REQUIREMENTSCONCEPT 1 Ability to stabilize itself
while it breaches doors. Maneuver around/over obstacles. Navigate
Stairs. Assess possible targets in rooms. Create diversions during
full breach. 6 Slide 7 DESCRIPTION/ REQUIREMENTSCONCEPT 2 Navigate
around/over obstacles. Navigate Stairs. Balance itself using a
fluid system to transfer center of balance. 7 Slide 8
DESCRIPTIONFINAL CONCEPT The final concept was designed to do the
following; Balance itself during all operations. Walk in straight
lines. Make turns. 8 Slide 9 9 Counter Balance System Electronics
Box Lifting Pistons Turning Pistons Large Stabilizing Feet Slide 10
10 CB Extension Limit Switch CB Rotation Limit Switch Slide 11 11
Slide 12 12 d1d1 d2d2 F1F1 F2F2 Counterweight 5.61 pounds Robot
Weight 25.17 pounds Feet/Leg Weight 4.2 pounds Slide 13 Utilized to
shift the center of mass of the robot for walking and turning
operations. 13 Slide 14 14 Pneumatic Rotary Piston Slide 15
TestPressure (psi)Effect Initial25 No Effective Reaction from
Pistons. Audible hissing of Air. Initial50 No Effective Reaction
from Pistons. More audible hissing of Air. Initial75 Highest
pressure possible on the trainer. Slight twitching of piston, but
no effect. With O-Ring25Less air loss, no reaction. With
O-Ring50Air loss audible, no reaction. With O-Ring75 Highest
possible pressure, no reaction, air loss still audible. With O-Ring
& Rubber Seal 25Less air loss audible, still no reaction. With
O-Ring & Rubber Seal 50Air loss still audible, no reaction.
With O-Ring & Rubber Seal 75 Air loss audible, side of unit
will cant up under pressure, possible reaction at higher pressure,
no reaction. 15 Slide 16 It was determined that the pneumatic
rotating piston was unsuccessful and we decided to resort to DC
motors for the counter balance system. 16 Slide 17 17 Master
Control Unit Counter Balance Counter Balance Rotator Right Leg
Turner Left Leg Turner Left Hip Lifter Right Hip Lifter Rotator
Limit Switch Extender Limit Switch System Check Point Slide 18 No
Yes Leg Turners Leg Turners Leg Pass ? Leg Pass ? No Yes 18 ? ?
Start Button Start Button No Yes Swing Right Extend CB Extend CB
Out ? No Yes Hip Lifter Past Lvl ? No Yes Leg Turners Leg Turners
Leg Pass ? Leg Pass ? Release Hip Lifter Retract CB Retract CB In ?
In ? No Swing Left Swing Left Yes Extend CB Extend CB Out ? No Yes
Hip Lifter Past Lvl ? No Release Hip Lifter Retract CB Retract CB
In ? In ? No Yes Slide 19 Solenoid 19 Micro-Controller HC12
Micro-Controller HC12 Motor Control H-Bridge Motor Control H-Bridge
Motor Control H-Bridge Motor Control H-Bridge Motor Control
H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor
Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge
Motor Control H-Bridge Motor Control H-Bridge Motor Control
H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor
Control H-Bridge Solenoid Pistons Turning Lifting Piston Pistons
Turning Lifting Piston Rotator Extender Electric/Digital Pneumatic
Slide 20 20 Motor Control H-Bridge Motor Control H-Bridge Solenoid
Power Supply (off site) Power Supply (off site) Micro-Controller
HC12 Micro-Controller HC12 Slide 21 21 Solenoid Lifting Piston Main
Pressure Line Turning Piston Turning Piston Solenoid Slide 22
LegLifters_Position_2: PSHA PSHB BCLR PTM, #%00000100 BSET PTM,
#%00001000 BSET PTT, #LegLiftersPos_2 JSR DELAY_10MS PULB PULA RTS
Motor1Forward: PSHA PSHB BSET PTM, #%00000001 BSET ATDDIEN,
#%00000100 Motor1Forward_Loop: LDAA ATDDIEN BITA #%00000001 BEQ
Motor1Forward_Loop BCLR PTM, #%00000001 PULB PULA RTS 22 Slide 23
23 Slide 24
