Part A: SolidWorks design and 3D printing of one Dynamixel servo bracket (toe).
... humanoid robot platform, or a cool walking toy robot). P1 - specifications.
Project 1 - intro "Walking machines" - different kinds of machinery used in research on algorithms and control systems for generating walking patterns (gaits) in robots. Inspiration from nature - animals and humans - examples: Carnegie Mellon Biomimetic Robotics Boston Dynamics Cheetah, Cheetah, DARPA, DARPA2 MIT LegLab AMBER lab biped Passive walkers (underactuated) ex1, ex2, ex3, ex4 Our own Henriette, Erna and Mono - gaits evolved by artificial evolution in real time Fighting Dynamixel based robots
P1 - description Design and prototyping of a two legged walker (only from pelvis and down). Balancing rod is used. Maximum simple design example shown in picture Part A: SolidWorks design and 3D printing of one Dynamixel servo bracket (toe). Starting today Part B: SolidWorks - design and 3D print the rest of the 2 legged robot Simulation of walking pattern in SolidWorks Programming the robot control program in Processing (Java) Documentation of walking pattern by SolidWorks movie generation Physical demonstration of walking for an expert panel for approval of the project Voluntarily - contribution in a running competition (speed/power/elegance)
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P1 - aim / learning outcome The main aims of this project can be summarized as follows: Learning / getting used to parametrized NURB based CAD tools (SolidWorks) Learning / getting used to 3D printing and path generation Get some experience with physic simulation and video documentation Learning / getting used to practical assembly of robots Creative use of technology (creative flow?) Understanding the widely used RS232 protocol and how to extend it and make it work in practice by simple Java communication over USB based COM ports. The same concept will be used in project No 2 Getting used to and communicate with an integrated servo system (Dynamixel) Getting slightly in touch with gait programming for legged robots What is not chosen to be the focus for this project: Getting introduced to the Dynamixel community and using pre developed libraries Making a robot run as fast as possible on a rod (could use a wheel based solution or a car) Making a legged robot walk with as little effort as possible (could use a commercial humanoid robot platform, or a cool walking toy robot)
P1 - specifications Robot must be "legged" (no wheels with ground contact), 0-4 legs Actuators must be Dynamixel AX12/18, max 2 AX18 units and max 4 AX12 units Max bus voltage 12V Robot must be free walking or connected to the central hub support system by either the straight bracket PDF or the elbow bracket PDF(notice angular orientation of straight bracket) Dynamixel AX12/18 SolidWork files, PDF The height of the robot can be freely chosen (central rod system height can be altered) Max size of each printed parts: 200x100x100mm (parts can be assembled by screws) Available screws: 2mm diam socket type head, length: 6mm, 8mm, 12mm, 16mm - 3mm diam socket type head, length:8mm, 16mm some 4mm. Will be located at the lab (head measurements) Available nuts: 2mm, 3mm, 4mm Maximum printed volume of robot/parts, including failed test prints :) 400cm3 Remember to "Mark" your submitted part with your group number (use the sketch text tool, and extrude cut) 1:20
P1 - examples A minimal example - 4 servos (fig. top) A underactuated example (Jansen linkage), 3 legs, 1 servo (fig. bottom) - mechanically complicated
P1 - voluntary competitions Walking machines in front of expert panel Speed Elegance Prizes/fame/CV-points?
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P1 - alternative Alternative for project 1 There may be an alternative specification for P1 more on this at the first lecture
Projects - organization Project groups Students can choose to design the 2 projects together in groups of maximum 3 students Try to find a partner with the same ambition level If you want a project partner but can't find anyone - send a mail to me and you will be mated with the next person that emails me for the same reason
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