Rochester Institute of Technology TigerBot P13201.

TigerBot

Rochester Institute of TechnologyTigerBotP13201

Group MembersChris AtwoodMechanical EngineerCAD, Structural designSasha YevstifeevElectrical EngineerControls, PCB, Rachel LucasMechanical EngineerCAD, Structural designGraeme BuckleyElectrical EngineerPower, Wiring, leadNick TowleComputer EngineerEmbedded Development

Project DescriptionDesign and build a humanoid robot that has the ability to mimic a human walking gait. Improve upon the mechanical designs of previous Tigerbot iterationsProvide a solid code framework capable of supporting all of Tigerbots functionsDevelop electrical components unique to Tigerbot, providing a modular wiring system.

System Overview

Design SummaryMechanical StructureDesigned using CAD tools and stress analysisWater jet cut aluminumElectrical designTwo custom made PCBsPower board and foot sensor boardDaisy chain wiring designComputer designRoboard w/ Lubuntu OS

Mechanical Design

23 degrees of freedom (4 per arm, 6 per leg, 2 in the head, 1 in the torso)Designed to be 32 at shoulder height and roughly 25 lbs.Custom aluminum parts for a lightweight, sturdy frameHigh-torque XQ servos used due to large torque requirementsBatteries placed on the back of the robot Circuit boards recessed into the chest for a protected and central location

Software DesignTigerBotRuns two serversHTTP ServerSocket-based TCP ServeriPhone componentClient which connects to the Tigerbots serversWeb browserCan browse pages hosted by the Tigerbot which contain key informationSoftware Design (cont.)server.cppRuns in the background always, listens for new connections and requests from clients, spawns child threads to complete the requests.ik.cppCan be used to either move the servos to a specific position, or to cause the Tigerbot to walk with specified velocity, step length, and time interval.foot.cppCan be called to read in current data from the foot sensors and report that data back to its caller.sensor.cppCan be called to read in current data from the magnetometer, accelerometer, and gyroscope and report that data back to the caller.Electrical DesignCustom Foot sensor PCB

SPC 5000mAh Li-Po Battery

Lynxmotion SSC 326-axis IMU

Custom PCB made for power distribution.Provides proper voltage to all components.Added fuse and switches for protection.Current Sense capability for overcurrent protection.

Custom PCB foot sensor interface Provides signal conditioning for four Flexiforce piezoresistive force sensors. Uses 8 channel 12-bit ADC with I2C I2C communication with Roboard reduces wiring.

Custom Power Board PCB

Flexiforce Sensor

9ResultsThe TigerBot robot has been structurally completed.The robot has been successfully fully wired including power, Servo, and sensors.The robot as a walking algorithm that allows for assisted walkingContributed to the further improvements of the tiger bot projectRobot cost close to $4000 due to high torque servos. Cost 60% more then the budget.

Future ImprovementsAdd wireless capabilityDesign manipulators at the end of the armsIncrease the number of peripheral sensors (IR, PING, Voice recognition)

Thank YouQuestions?