1. Seoul National University of Technology 1 Design Project Dr. Dong-hawn Kim Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park

2. Contents Individual part Plan Mechanism DSP & IC Board PC Mechanism survey Criteria 2 Seoul National University of Technology

3. Part Mechanism: Su-min (Mechanical Eng.) Mechanism: Su-min (Mechanical Eng.) DSP & IC: Ok-nam (Mechanical Eng.) DSP & IC: Ok-nam (Mechanical Eng.) Sung-mok (Industrial Eng.) Sung-mok (Industrial Eng.) PC: Yoon-ho (Mechanical Eng.) PC: Yoon-ho (Mechanical Eng.) 3Seoul National University of Technology

4. Plan Finish until August Finish until August Prepare for Robot contest in September Prepare for Robot contest in September Meeting on Wed. Fri. regularly Meeting on Wed. Fri. regularly 4Seoul National University of Technology

5. Plan Mechanism Part MarchDesign mechanism, functions, etc. AprilSelect components and design in detail MayManufacture and assembly JuneOperate the robot and add new functions JulyCorrect and complement AugustOptimize 5 Seoul National University of Technology

6. Plan DSP and IC Board Part MarchInstall software programs AprilBuy basic parts, study DSP code MayConnect DSP & Board & Sensors JuneControl parts, motor by DSP JulyLink MSRS and add new functions AugustOptimize 6 Seoul National University of Technology

7. Plan PC Part MarchStudy MSRS and C# AprilSeminar for MSRS and C# MayBuild robot protocol JuneDrive robot and develop codes JulyDevelop controller for robot AugustOptimize 7 Seoul National University of Technology

8. Mechanism survey Wheel Leg 4 wheels Caterpillar 4 legs 6 legs 8 Seoul National University of Technology

9. 4 wheels High speed movement Easy to change direction Bounce along rough road Impossible to step up 9 Seoul National University of Technology

10. Caterpillar Easy to make a turn Movable on uneven road Generally slow speed Impossible to go up stairs 10 Seoul National University of Technology

11. 4 legs Easy to change direction Movable on uneven road Possible to step up Lower speed than wheels Difficult to control 11 Seoul National University of Technology

12. 6 legs Good for balancing Possible to move minutely Difficult to control Lower speed than wheels 12 Seoul National University of Technology

13. Criteria 13Seoul National University of Technology Criteria (Weight) Speed (4) Movement on uneven road (5) Controlling (3) Size (1) Cost (3) Result 4 wheels4144449 Chain3233446 4 legs3424351 6 legs1533144 5 point is max. 1 point is min.

14. 14Seoul National University of Technology Q & A Thank you

15. Legged Robot 6 arc-shape legged Robot 6 arc-shape legged Robot 6 arc-shape legged Robot 6 arc-shape legged Robot 6 parallel legged Robot 6 parallel legged Robot 6 parallel legged Robot 6 parallel legged Robot 6 round array legged Robot 6 round array legged Robot 6 round array legged Robot 6 round array legged Robot 4 parallel legged Robot 4 parallel legged Robot 4 parallel legged Robot 4 parallel legged Robot 15Seoul National University of Technology