P15201: TIGERBOT V Special Thanks to… George Slack (Guide) Ferat Sahin (Customer) John Chiu (Mechanical Engineer) Yingyi Chen (Industrial Engineer) Christine Fischer (MSD Program Coordinator) Tigerbot II, III, and IV Teams Teknic Inc. and Onvio Machine Shop Technicians From Left to Right Vincent Pan (EE), David Exton (ME), Matthew Warner (CE), Chris Crippen (EE), Wunna Kyaw (ME), Matthew Mares (ME), Benjamin Haag (EE), Jordan Skiff (EE), Vasu Gupta (CE) Mechanical Design: Torque Requirements were calculated for walking, standing, mid stride and getting back up from a fall position. Teknic Clearpath servo motors provide excellent controllability. Coupled with harmonic gearboxes, we are able to implement high torque outputs with a compact design. A belt and pulley system is implemented to drive the gearbox from the motor. A modular design for any DOF Can be stacked to give 2 DOF at a joint (e.g Hip) Mechanical Design: Torque Requirements were calculated for walking, standing, mid stride and getting back up from a fall position. Teknic Clearpath servo motors provide excellent controllability. Coupled with harmonic gearboxes, we are able to implement high torque outputs with a compact design. A belt and pulley system is implemented to drive the gearbox from the motor. A modular design for any DOF Can be stacked to give 2 DOF at a joint (e.g Hip) Computer Design: Multiple CPU’s “Core” processor manages ROS stack Microcontrollers Manage hardware controls Integration of the ROS software stack Exposes all Required interfaces in ROS indigo release Layers implemented as modular packages Simulation and Hardware utilize identical interfaces Access to large package repository Remote control from any computer with ROS Compatibility with Arduino libraries Quickly integrate existing projects and libraries Computer Design: Multiple CPU’s “Core” processor manages ROS stack Microcontrollers Manage hardware controls Integration of the ROS software stack Exposes all Required interfaces in ROS indigo release Layers implemented as modular packages Simulation and Hardware utilize identical interfaces Access to large package repository Remote control from any computer with ROS Compatibility with Arduino libraries Quickly integrate existing projects and libraries Results: Necessary hardware is designed and ready to be implemented. Software and controls for walking motion. A working upper leg design capable of demonstration Successfully demonstrated operation with weight Results: Necessary hardware is designed and ready to be implemented. Software and controls for walking motion. A working upper leg design capable of demonstration Successfully demonstrated operation with weight Electrical Design: Custom PCB for Analog to Digital conversion. Electrical Design: Custom PCB for Analog to Digital conversion. Focus on Modular Design Supports 3.3V and 5V logic Serial I2C output Design for a 5V scale Analog output voltage Supports four force sensing resistors Custom PCB for Force Sensing Resistors Custom PCB for Teensy microcontroller breakout Can interface with 1.8V, 3.3V, or 5V logic Access to use I2C, CAN, or UART Six outputs with 3 GPIO and 1 PWM each Tigerbot V is the fifth iteration of RIT’s humanoid robot series. The ultimate goal of the project is to develop a robotic tour guide for RIT. Overall the focus of Tigerbot V is the locomotion aspect and in doing so, to provide the base platform for future teams to build upon. The original goals are 22 Degrees of freedom 5 feet in height Autonomous, untethered operation Capable of balancing in a still, standing position The final implementation includes one leg design with 2 Degrees of freedom software packages to manipulate the leg sensor and communication hardware Tigerbot V is the fifth iteration of RIT’s humanoid robot series. The ultimate goal of the project is to develop a robotic tour guide for RIT. Overall the focus of Tigerbot V is the locomotion aspect and in doing so, to provide the base platform for future teams to build upon. The original goals are 22 Degrees of freedom 5 feet in height Autonomous, untethered operation Capable of balancing in a still, standing position The final implementation includes one leg design with 2 Degrees of freedom software packages to manipulate the leg sensor and communication hardware