P13203: TigerBot IV Problem Descripon: Design and build a humanoid robot plaorm, with human-like proporons and movement, capable of interacng with people and its surroundings. Objecves: Walk in straight line, and turn Autonomous, untethered operaon for up to 30 minutes Capable of balancing in staonary standing posion Support 125% of total robot weight Obstacle avoidance capable Voice acvated Able to recover and upright self aſter a fall Durable enough to withstand a fall Special Thanks to... Dr. George Slack (Guide) Dr. Ferat Sahin (Sponsor) Chrisne Fisher (MSD Program Coordinator) Rob Kraynik (Machine Shop Technician) Jan Mane (Machine Shop Technician) TigerBot III MSD Team (P13201) Mechanical Design Electrical Design Shell Design 23 Rotaonal Degrees of Freedom (4 per arm, 6 per leg, 1 in torso, 2 in head) Full load bearing joint design at every axis of rotaon, allowing completely free and un- restricted servo rotaon Servo motors take no structural loads, and therefore are easily removable from joints Shoulder height of 26” with all dimensions proporonal to actual human subject Projected total mass of 8.5 kg (~18.75 lbs), Actual mass without shell of 18.5 lbs Low center of gravity to assist funconality (~2” below pelvis plate) Combinaon of higher torque XQ-S56 servos (legs) and Roboard RS1270 servos (upper body) based on joint torque requirements Computer Design Shell modeled aſter “Ironman” for aesthecs and to protect internal electrical/computer components Designed using Pepakura soſtware Made from 0.016” aluminum to be as light as possible while sll providing sufficient protecon Front Chest Plate Back Plate Mask (Component Layout) Knee - Exploded View Elbow - Close Up Complete CAD Model (SolidWorks) Custom PCB - Power Board Custom PCB - Current Sensing Custom PCB designed to distribute baery power Proper voltage distribuon to all components Added fuse and switches for protecon Low baery indicator I2C communicaon capability Custom PCB designed for measuring currents drawn by each servo Capable of sensing current for 25 servos at once Uses “Hall Effect” current sensors, providing low power consumpon 32-bit Roboard Vortex86 CPU with 256MB DDR2 RAM and 16GB Class 10 SD Card running Ubuntu ATmega2560 Arduino with 16 analog input ports 9-Axis IMU (Accelerometer, Magnetometer, and Gryoscope) EasyVR Voice Recognion with 26 pre-programmed commands and up to 9 minutes of audio playback Roboard RB-100 CPU 9-Axis IMU EasyVR Voice Recognition Chip Results From Leſt to Right: Back Row: Mike Lew (ISE), Dan Wiatroski (ME), Tom Whitmore (ME), Geoff Herman (ME) Front Row: Sean Lillis (CE), Brian Stevenson (EE), James O’Donoghue (CE), Mohammad Arefin (EE) Roboard CPU can communicate wirelessly to remote locaon on RIT network Robot responds to voice commands Robot is able to balance in staonary standing posion Robot is able to recognize and avoid obstacles Robot is able to move autonomously Low weight (18.5 lbs) achieved while sll maintaining strong mechanical structure
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P13203: TigerBot IV
Problem Description:
Design and build a humanoid robot platform, with human-like
proportions and movement, capable of interacting with people
and its surroundings.
Objectives:
Walk in straight line, and turn
Autonomous, untethered operation for up to 30 minutes
Capable of balancing in stationary standing position
Support 125% of total robot weight
Obstacle avoidance capable
Voice activated
Able to recover and upright self after a fall
Durable enough to withstand a fall
Special Thanks to...
Dr. George Slack (Guide)
Dr. Ferat Sahin (Sponsor)
Christine Fisher (MSD Program Coordinator)
Rob Kraynik (Machine Shop Technician)
Jan Maneti (Machine Shop Technician)
TigerBot III MSD Team (P13201)
Mechanical Design
Electrical Design
Shell Design
23 Rotational Degrees of Freedom (4 per arm, 6 per leg, 1 in torso, 2 in head)
Full load bearing joint design at every axis of rotation, allowing completely free and un-restricted servo rotation
Servo motors take no structural loads, and therefore are easily removable from joints
Shoulder height of 26” with all dimensions proportional to actual human subject
Projected total mass of 8.5 kg (~18.75 lbs), Actual mass without shell of 18.5 lbs
Low center of gravity to assist functionality (~2” below pelvis plate)
Combination of higher torque XQ-S56 servos (legs) and Roboard RS1270 servos (upper body) based on joint torque requirements
Computer Design
Shell modeled after “Ironman” for aesthetics and to protect internal electrical/computer components
Designed using Pepakura software
Made from 0.016” aluminum to be as light as possible while still providing sufficient protection
Front Chest Plate Back Plate Mask (Component Layout)
Knee - Exploded View Elbow - Close Up
Complete CAD Model
(SolidWorks)
Custom PCB - Power Board
Custom PCB - Current Sensing
Custom PCB designed to distribute battery power
Proper voltage distribution to all components
Added fuse and switches for protection
Low battery indicator
I2C communication capability
Custom PCB designed for measuring currents drawn by each servo
Capable of sensing current for 25 servos at once
Uses “Hall Effect” current sensors, providing low power consumption
32-bit Roboard Vortex86 CPU with 256MB DDR2 RAM and 16GB Class 10 SD Card running Ubuntu
ATmega2560 Arduino with 16 analog input ports
9-Axis IMU (Accelerometer, Magnetometer, and Gryoscope)
EasyVR Voice Recognition with 26 pre-programmed commands and up to 9 minutes of audio playback
Roboard RB-100 CPU
9-Axis IMU
EasyVR Voice Recognition Chip
Results From Left to Right:
Back Row: Mike Lew (ISE), Dan
Wiatroski (ME), Tom Whitmore
(ME), Geoff Herman (ME)
Front Row: Sean Lillis (CE), Brian
Stevenson (EE), James O’Donoghue
(CE), Mohammad Arefin (EE)
Roboard CPU can communicate wirelessly to remote location on RIT network
Robot responds to voice commands
Robot is able to balance in stationary standing position
Robot is able to recognize and avoid obstacles
Robot is able to move autonomously
Low weight (18.5 lbs) achieved while still maintaining strong mechanical structure
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