Wiring Diagram• The overall wiring

diagram will resemble this structure. The power board will be extremely similar to that of TigerBot #3. The difference lies in that our power board will not have the current sensing to each limb but a totally separate board. The servos, microcontrollers, sensors, and will still be powered from this board but in a slightly different configuration. The design for this board can be seen below. The foot sensor boards are also going to be used from Tigerbot #3.

Power Board Schematic

Current Sensing

Foot Sensor Board Schematics

Foot Sensor Board Schematics

Foot Sensor Board Schematics

Foot Sensor Board Schematics

Foot Sensor Board Schematics

Servo Information

• This software allows a full simulation of motion. Motion files can be created to re-enact movements of the robot. Some examples include the “Low crouch”, “Leg Lift”, and “Pick Itself Up”. The majority of the initial simulations are for mechanical qualifications and will be covered in the Mechanical/Industrial engineering portion of the design review. However, the next step in this process is to implement Inverse Kinematics to develop a walking algorithm that also supports the mechanical design parameters. Below is the extensive characterization conducted on the servos, done by Alexander Yevstifeev last quarter.

Servo Information

Servo Information

Servo Information

Servo Information

Servo Information

Software Flow Charts

Inverse Kinematics Leg Diagram

Locomotion.c

/***Controls the robots locomotion*with more functions added depending on the task**/ #include "Locomotoin.h" void walk(){ } void stand(){ } void balance(){ }

Locomotion.h

#ifndef LOCOMOTION_H#define LOCOMOTION_H void walk();void stand();void balance();

RobotStatus.c

/*** Checks the robots status to begin movements* different types of check depending on the situation**/ #include "RobotStatus.h" int checkBalance(){

return 0;} int frontClear(){

return 0;} int currentServoPosition(int Servo){

return 0;}

RobotStatus.h

#ifndef ROBOT_STATUS_H#define ROBOT_STATUS_H int checkBalance();int frontClear();int currentServoPosition(int Servo);

Sensors.c/*** Class to return data from all the sensors**/ #include sensors.h int check_IR( int IRnumber ){

int value = 0;switch(IRNumber){case 0:

break;case 1:

break;case 2:

break;case 3:

break;case 4:

break;case 5:

break;case 6:

break;default:

break;}return value;

} int check_IMU(void){

return 0;}

Sensors.h

#ifndef SENSOR_H#define SENSOR_H int check_IR( int IRnumber );int check_IMU(void);

ServoControl.c/***Control the servos, can be added to locomotion maybe depending*on what else might be needed in this class. **/ #include "ServoControl.h" void setServo( int ServoNumber, int position ){

switch(ServoNumber){case 0:break;case 1:break;case 2:break;case 3:break;case 4:break;case 5:break;case 6:break;case 6:break;default:break;}

}

ServoControl.h

#ifndef SERVO_CONTROL_H#define SERVO_CONTROL_H void setServo( int ServoNumber, int position );

Compile Script

#!/bin/bash rm ServoTestCode; g++ -static -I /home/roboard/RobotCode/RoBoIO/libsrc/ -c

ServoTestCode.cpp -o ServoTestCode.o g++ -o ServoTestCode ServoTestCode.o -static -L

/home/roboard/RobotCode/RoBoIO -l RBIO ./ServoTestCode;

Servo Test Code#include <stdio.h>#include "roboard.h"#include "rcservo.h"#include <unistd.h> int main(void){

roboio_SetRBVer(RB_100RD);unsigned long motion_frame[2] = {0,0};if(rcservo_SetServo( RCSERVO_PINS1, RCSERVO_SERVO_DEFAULT_NOFB )){puts("Servo 1 set correctly");}if(rcservo_SetServo( RCSERVO_PINS2, RCSERVO_SERVO_DEFAULT_NOFB )){puts("Servo 2 set correctly");}while(1){if(rcservo_Init(RCSERVO_USEPINS1 + RCSERVO_USEPINS2)){puts("Victory");rcservo_EnterPlayMode_HOME(motion_frame);rcservo_MoveTo( motion_frame, 500 );if(motion_frame[0] == 0){motion_frame[0] = 1500;motion_frame[1] = 1500;}else{motion_frame[0] = 0;motion_frame[1] = 0;}rcservo_Close();}else{puts("Could not init Servo");puts(roboio_GetErrMsg());sleep(1);}}return 0;

}

Example Inverse Kinematics Code %Inverse Kinematics Function. Computes 6 output angles given foot position%and orientation.%written by Alexander Yevstifeev%Based on work in the paper Closed-form Inverse Kinematic Joint Solution for Humanoid Robots by Muhammad A. Ali, Andy Park, and C.S. George Lee. function [T] = Leg_Inv_Kin(rx,ry,rz,p) %outputs joint angles for T(1)-T(6) of a humanoid leg given the x,y,z axis%rx ry rz are rotation angles for orientation and a position vector.%order of angle joints from T(1) to T(6) are leg twist, leg side, leg lift, knee, foot lift, and foot tilt.%Link length definitionsL5 = 0.05 ; % Link between ankle and bottom of footL4 = 0.25 ; % Link between knee and ankleL3 = 0.25 ; % Link between hip and knee %compute rotation matrix given rotation angles rx, ry, and rzCx = cos(rx) ;Sx = sin(rx) ;Cy = cos(ry) ;Sy = sin(ry) ;Cz = cos(rz) ;Sz = sin(rz) ;Rmat = [ Cy*Cz , -Cx*Sz+Sx*Sy*Cz , Sx*Sz+Cx*Sy*Cz ; ...Cy*Sz , Cx*Cz+Sx*Sy*Sz ,-Sx*Cz+Cx*Sy*Sz ; ...-Sy , Sx*Cy , Cx*Cy ; ] ;

Example Inverse Kinematics Code %build location matrix, find inverse, assign inverse vectorsM = cat(2, Rmat , p') ;M = cat(1,M,[0 0 0 1]) ;Mi = inv(M) ;s = 1:3 ;ni = Mi(s,1)' ;si = Mi(s,2)' ;ai = Mi(s,3)' ;pi = Mi(s,4)' ;C4 = ( (pi(1)+L5)^2 + pi(2)^2 + pi(3)^2 - L3^2 - L4^2 ) / (2 * L3 * L4 ) ;T(4) = atan2(sqrt(1 - C4^2),C4) ;S4 = sin(T(4)) ;psi = atan2( S4 * L3 , ( C4 * L3 ) + L4 ) ;T(5) = atan2( -pi(3) , sqrt( (pi(1) + L5)^2 + pi(2)^2 ) ) - psi ;C5 = cos(T(5)) ;T(6) = atan2(pi(2) , -pi(1) - L5 );if (cos(T(4)+T(5))*L3 + C5*L4) < 0T(6) = T(6) + pi ;endS6 = sin(T(6)) ;C6 = cos(T(6)) ;T(2) = atan2( -S6*si(1) - C6*si(2) , -S6*ni(1) - C6*ni(2) ) ;T(1) = atan2( sqrt(1 - (S6*ai(1) + C6*ai(2))^2) , S6*ai(1) + C6*ai(2));if sin(T(2)) < 0T(1) = T(1)+3.14159 ;endT(3) = atan2(ai(3) , C6*ai(1) - S6*ai(2) ) - T(4) - T(5) ; %Adjustment for reference frames on modelT(1) = -(T(1)+1.5707);T(2) = -(T(2) + 1.5707) ;T(3) = T(3) - 1.5707 ;T(6) = -T(6) ;%correction for position value over 2*pifor i = 1:6 ;T(i) = rem(T(i),6.283) ;endend

analogRead() (arduino function)

• Reads the value from the specified analog pin. The Arduino board contains a 6 channel (8 channels on the Mini and Nano, 16 on the Mega), 10-bit analog to digital converter. This means that it will map input voltages between 0 and 5 volts into integer values between 0 and 1023. This yields a resolution between readings of: 5 volts / 1024 units or, .0049 volts (4.9 mV) per unit. The input range and resolution can be changed using analogReference().

• It takes about 100 microseconds (0.0001 s) to read an analog input, so the maximum reading rate is about 10,000 times a second.

Preliminary Test PlanFunction to Test Expected Result

Send commands to move each elbow servo Servo moves to desired position, does not extend too far

Send commands to move each shoulder servo Servos move to desired positions, three degrees of freedom are observed

Send command to move center hip servo Robot turns left or right appropriately

Send commands to move each non-center hip servo Servos move to desired positions, three degrees of freedom are observed

Send command to move each knee servo Servo moves to desired position, does not extend too far

Send commands to move each foot servo Servos move to desired positions, two degrees of freedom observed

Place object within one foot of IR sensors Robot will stop moving, alter course of direction

Intentionally (or accidentally) knock robot over IMU will detect that the robot has fallen, begin procedure to pick itself up

Begin walking the robot Foot sensors will detect pressures from each area of the foot, adjust walking scheme accordingly

CE/EE Planning SchedulesCE Schedule Spring Quarter

Week 11 Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8

Sean Outline Voice Code

JamesConfigure Roboard for servo communication

Fine-tune code for walking/balancing

Configure working voice commands

I2C communication (foot sensor to IMU)

Configure all servos for roboard

Walking/Balancing algorithm

Combine voice and servo actions

Serial communication (arduino and roboard)

EE Schedule Spring Quarter

Week 11 Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8

Brian

- Design Power Board - Start to implement Inverse Kinematics

with CE's

Finish Power board Design and test

Inverse Kinematics with Webots software

Mohammad Current Sense testsFinish Current Sensing

BoardTweak Foot sensor

Board

- Swap Designs and compare/review them -send out boards to be

made

Cableing plansPopulate Boards and

test functionalityPower Robot and hand off to CE's to program

Current Bill of MaterialsBudget 2500

Orders

Date Ordered By Description Amount Budget remaining

1/21/2012 Ken EE Dept. Voice Recog, IR Sensors, Camera, RoBoard RB-100 391.93 2108.07

1/25/2013 Sr. Design Dept. 10 XQ Servos 1070 1038.07

1/25/2013 Sr. Design Dept. RoBoard IMU 89 949.07

1/28/2013 Sr. Design Dept. Mechanical test components 60.86 888.21

TBD Mechanical components 457.67 430.54

•Left to order• Wireless module for Roboard (about $50.00)• Roboard Servos (10, possible discount?)

Risk AssessmentID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner

1 Budget is too lowUnable to purchase all the parts

we would like for the projectCertain parts required for robot cost

more than budget allowed3 3 9

Prove that we need an increase in budget

Team

2 Stress in limbs Excessive deflection of limbs Limbs can not handle load 2 2 4 Thorough structural load analysis

ME

3Servos will not have

enough torqueRobot will be unable to complete

taskIncorrect measurements were made /

wrong servos purchased2 3 6

Accurately measure the torque in servos / Webot

simulationME

4Battery life is too

shortRobot cannot operate for a long

period of timeRobot draws too much power 2 2 4

Consult with advisor / customer

EE

5Parts not arriving on

timePushes timeline back making late

deliverables

Poor planning / reordering parts that were damaged or not in taken into account / Lead time not taken into

account

2 2 4Research parts and know the

actual lead time per partTeam

6 Machining of partsPushes timeline back making late

deliverablesUnable to machine parts correctly 1 2 2

Design for simple manufacturing

ME

7Roboard has enough

power to process information

The time to compute commands will take too long

Unable to estimate the computing power needed

1 1 1Research capabilities of

RoboardCE

8Interfacing old code and code structure

for Tigerbot v4Increase time of coding

Unable to contact previous teams about their code

2 2 4

Make early effort to get in touch with last year's team

and start using the new interface with the old code

CE

9 Circuitry Burning chips Servos drawing to much current 2 2 4 Test circuit EE

10Team

Communication Cause unnecessary delays Poor meeting structure / agenda 3 2 6

Have a set plan for each meeting to know what needs

to be coveredTeam

11Time for Software

Calibration

Robot performance (walking, balancing, etc.) would not be

idealNot enough time to test/debug code 2 2 4

Start debugging early, ensure physical portion is completed

on timeCE

12Not Completing

WeBot SimulationPushes timeline back making late

deliverablesUnable to understand WeBot Software

and not asking for help2 3 6

Asking for help to understand how to use WeBot Software to

simulate robotTeam

13 Walking SchemeUnable to complete major

deliverableMisinterpreting what customer wanted 2 3 6

Understand how humanoid does the walking scheme have

to be for the robotTeam

14 Voice RecognitionUnable to complete major

deliverableNot enough time to test/debug code

and sensor2 2 4

Adjusting and testing voice recognition system

CE/EE

15Output Shaft Connection

Unable to attach servos to move joints

Adaptor too expensive for our budget 2 3 6 Look for cheaper alternatives ME

16Fasteners Will Not

hold the jointsRobot will be unable to move Fasterner design was not correct 1 3 3 Weld joints instead ME

17 Make Housing BoxUnble to have the degrees of

freedom neededCNC capabilities too expensive for our

budget2 3 6 Look for cheaper alternatives ME

18 Press Fit Assembly Output shaft will take loadingUsing correct press fit tolerance and

interference. Working within constraints of joint brackets

2 2 4 Test Assembly ME