1. P15201: TIGERBOT V Mechanical Design: Electrical Design:
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 6 Degrees of freedom
software packages to manipulate the leg
sensor and communication hardware
Mechanical Design:
Torque Requirements were calculated for walking , standing, mid stride and getting back up from a fall poition.
Teknic Clearpath servo motors provide excellent controllability.
Coupled with harmonic gearboxes which have really high torque to weight ratio gives a compact yet high torqued design.
To still give a more compact design, belt and pulley system is implemented to drive the gearbox from the motor.
A generic design for any DOF
Can be stacked to give 2 DOF at a joint (e.g Hip)
Electrical Design:
Custom PCB for Analog to Digital conversion.
Focus on Modular Design
Supports 3.3V and 5V logic
Serial I2C output
Custom PCB for Force Sensing Resistors
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
Design for a 5V scale
Analog output voltage
Supports four 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
Results:
All control boards and electronics designed and ready to be implemented.
Software and controls for walking motion.
A working hip design with knee demonstration
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)
Special Thanks to…
George Slack (Guide)
Ferat Sahin (Customer)
John Chiu (Mechanical Engineer)
Christine Fischer (MSD Program Coordinator)
Tigerbot III and IV Teams
Teknic Inc.
Onvio
Machine Shop Technicians