1. Bobby Lunceford Connor Phyfer Luke Rice Phillip Bennett
SSTEM Robotics – Fall 2010

2. What is Bioloid?
A hobbyist robot kit produced by Korean manufacturer Robotis.
Used by Navel Academy in its mechanical engineering program
Allows you to create many unique robots using a small number of different parts
Robots can accomplish a number of different tasks because of the built in sensor and processor

3. Examples of robots

4. The King Spider Different from other robots previously built
Stable while walking
Looks cool!

5. Building the King Spider
18x Dynamixels
1x Sensor
1x CM -5

6. Finite State Machine
*All states can go to Error.

7. Conditions Condition Code Obstacle in front? F Ground below? B
Clearance above? A
Load on right front leg? RF
Load on left front leg? LF
Load on right rear leg? RR
Load on left rear leg? LR
Last position successful?
LPS

8. Condition Codes 011111111 255 1 2 3 4 5 6 7 8 n/a Front Below Above1 2 3 4 5 6 7 8
n/a
Front
Below
Above
Right
Front
Left
Front
Right
Rear
Left
Rear
Last
Position
Successful F B A RF LF RR LR
LPS
255

9. Atmega128
8 Bit Microcontroller
AVR Family
Memory
I/O

10. Microcontroller What makes a microcontroller?
A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals.
Why use a microcontroller?
Cost
Power consumption
Flexibility

11. AVR Family AVR Doesn’t stand for anything in particular
Modified Harvard Architecture
Instruction memory and Data memory are separate
Instructions and data occupy different address spaces, so a single address could point to data or an instruction
Popular due to reasonably priced development kits and free software tools.
BIOLOID Can be programmed using GNU toolset and free WinAVR compiler

12. Memory In System Reprogrammable Flash Memory EEPROM SRAM
128 K (64Kx16)
Stores program
EEPROM 4K
Expensive
Non-volatile
SRAM
Volatile
Doesn’t need to be refreshed.
Addressed with register file and IO registers
Stack is allocated in SRAM

13. I/O Universal Asynchronous Receiver Transmitter UART0: Dynamixels
Communicates between Parallel and Serial devices.
UART0: Dynamixels
UART1:
RS232 Serial to PC
Zigbee 100 Wireless

14. Zigbee 2.4ghz Wireless Serial replacement Max bandwidth: 250kbps
Uses UART1, PortD on MCU
Transmits as 8 bit character
Zigbee enabled when RS232 PC
interface is unplugged
Programmed basic handshake functions for master/slave operation.

15. LibAVR and Libbioloid LibAVR LibBioloid
General purpose C code for AVR MCU
Example: Defines all I/O registers in SRAM with #defines for easy access.
LibBioloid
Bioloid Specific C Libraries
Dynamixel.c: General helper functions for reading data from and writing data to dynamixels. Includes changing position, checking temp. and load.

16. Code Sample

17. Things Learned and Future Plans
Low level C programming
Volatile keyword, inline assembly, macros, #defines
MCU operations
Low level Bioloid operations
Future Plans:
Implement more wireless helper functions, like transmission of floating point and larger than 8 bit integers
Refine knowledge of libraries and use knowledge to create a complex project.