Erik Johnson Richard Manning 1

To Design a robot for entertainment purposes that has the ability to walk in a straight line and make turns. 2

Previous bipedal robots have been created at several prestigious institutes, including the Waseda University in Japan Most designs utilize a mechanism that uses the torso of the robot as a counterweight Robots based on these designs include toys and research test beds The first bipedal robot created was the WABOT 1 At the Waseda Institute 3

The legs of the robot shall not exceed 4 lbs. The robot shall maintain a walking speed of 1 step every 5 seconds. The robot shall not exceed a turning radius of 5 feet. The robot shall have a counterbalance system to balance the robot during the walking stage. The robot shall have a leg turning system that is able to turn the legs for normal walking and for turning. The robot shall have an enclosed electrical box containing the electrical circuits which shall physically not interfere with the operation of the robot. The robot shall incorporate an electrical control system to govern the robots movements and make adjustments based on feedback from sensors mounted on the robot. 4

Style of Movement AdvantagesDisadvantages Passive Dynamics Requires little or no electrical controls Current research is very expensive and robots are limited to down grades Driven Pneumatics Fewer components to time and synchronize Larger pistons required to operate the unit Driven Electrical Motors Many types of motors and controllers to chose from Heavy electrical power source required and adequate controllers Hybrid Counterweight Lessens the power of the pistons doing the work More components to synchronize 5

DESCRIPTION/ REQUIREMENTSCONCEPT 1 Ability to stabilize itself while it breaches doors. Maneuver around/over obstacles. Navigate Stairs. Assess possible targets in rooms. Create diversions during full breach. 6

DESCRIPTION/ REQUIREMENTSCONCEPT 2 Navigate around/over obstacles. Navigate Stairs. Balance itself using a fluid system to transfer center of balance. 7

DESCRIPTIONFINAL CONCEPT The final concept was designed to do the following; Balance itself during all operations. Walk in straight lines. Make turns. 8

9 Counter Balance System Electronics Box Lifting Pistons Turning Pistons Large Stabilizing Feet

10 CB Extension Limit Switch CB Rotation Limit Switch

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12 d1d1 d2d2 F1F1 F2F2 Counterweight 5.61 pounds Robot Weight pounds Feet/Leg Weight 4.2 pounds

Utilized to shift the center of mass of the robot for walking and turning operations. 13

14 Pneumatic Rotary Piston

TestPressure (psi)Effect Initial25 No Effective Reaction from Pistons. Audible hissing of Air. Initial50 No Effective Reaction from Pistons. More audible hissing of Air. Initial75 Highest pressure possible on the trainer. Slight twitching of piston, but no effect. With O-Ring25Less air loss, no reaction. With O-Ring50Air loss audible, no reaction. With O-Ring75 Highest possible pressure, no reaction, air loss still audible. With O-Ring & Rubber Seal 25Less air loss audible, still no reaction. With O-Ring & Rubber Seal 50Air loss still audible, no reaction. With O-Ring & Rubber Seal 75 Air loss audible, side of unit will cant up under pressure, possible reaction at higher pressure, no reaction. 15

It was determined that the pneumatic rotating piston was unsuccessful and we decided to resort to DC motors for the counter balance system. 16

17 Master Control Unit Counter Balance Counter Balance Rotator Right Leg Turner Left Leg Turner Left Hip Lifter Right Hip Lifter Rotator Limit Switch Extender Limit Switch System Check Point

No Yes Leg Turners Leg Turners Leg Pass ? Leg Pass ? No Yes 18 ? ? Start Button Start Button No Yes Swing Right Extend CB Extend CB Out ? No Yes Hip Lifter Past Lvl ? No Yes Leg Turners Leg Turners Leg Pass ? Leg Pass ? Release Hip Lifter Retract CB Retract CB In ? In ? No Swing Left Swing Left Yes Extend CB Extend CB Out ? No Yes Hip Lifter Past Lvl ? No Release Hip Lifter Retract CB Retract CB In ? In ? No Yes

Solenoid 19 Micro-Controller HC12 Micro-Controller HC12 Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Motor Control H-Bridge Solenoid Pistons Turning Lifting Piston Pistons Turning Lifting Piston Rotator Extender Electric/Digital Pneumatic

20 Motor Control H-Bridge Motor Control H-Bridge Solenoid Power Supply (off site) Power Supply (off site) Micro-Controller HC12 Micro-Controller HC12

21 Solenoid Lifting Piston Main Pressure Line Turning Piston Turning Piston Solenoid

LegLifters_Position_2: PSHA PSHB BCLR PTM, #% BSET PTM, #% BSET PTT, #LegLiftersPos_2 JSR DELAY_10MS PULB PULA RTS Motor1Forward: PSHA PSHB BSET PTM, #% BSET ATDDIEN, #% Motor1Forward_Loop: LDAA ATDDIEN BITA #% BEQ Motor1Forward_Loop BCLR PTM, #% PULB PULA RTS 22

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