1. SELF BALANCING BIPED ROBOT
Team 14
Seongwoon Ko Ankith Cherala Jinliang Wei Kelton Stefan

2. Index Introduction P.S.S.Cs (Project-Specific Success Criteria).
Concepts utilized learned in ECE 270 & ECE 362.

3. Introduction Main motivation: 1) Replicating movement of human legs.
Structure/Major Components:
1) Robotic Frame.
2) 8 Servo Motors. (4 per leg)
3) Wireless Communication Module.
4) Balancing Mechanism.
5) Range Finder.
Applications:
1) Household.
2) Hazardous and rough terrains.

4. P.S.S.Cs
An ability for the robot to balance itself in a standing position.
An ability for the robot to walk forward and maintain it’s balance.
An ability for the robot to pivot.
An ability for the robot to detect an obstacle in it’s forward path and halt.
An ability to remotely control the robot’s operating mode.

5. Concepts used covered in ECE 270 & ECE 362
Reference Voltages.
Module 6, that deals with the idea of a simple computer - A good transition to ECE 362.
ECE 362
Used a better Freescale Microcontroller (9S12A256). Thus, register sets remained the same for the most part.
Microcontroller interfacing & peripherals. Important Modules used:
PWM module.
TIM Module.
SCI Module.
Timing. (Important!)
Usage of Memory.

6. Video
deos/video.html

7. References Material from Dr. Meyer’s ECE 362 & ECE 270 class. ECE 569.
lynxmotion.com
robotshop.com
sparkfun.com
freescale.com
ece.utexas.edu

8. Questions