1. Rochester Institute of Technology
TigerBot
Rochester Institute of Technology

2. Group Members Eric Walkama Mechanical Engineer Matthew DeCapua
CAD, Structural design
Matthew DeCapua
Electrical Engineer
System Integration
John Seybold
Computer Engineer
Embedded Development
Jonathan Cormier
Computer Engineer
Embedded Development
Michael Thomas
Electrical Engineer
Power, Wiring
Kyle Backer
Electrical Engineer
Power, Speech Control
Jeremy Jensen
Mechanical Engineer
Structural design, Manufacturing
Group Members

3. Benchmarking RoboNova Cost: $1300 Height: 12” TigerBot Cost: $2,300
Darwin
Cost: $12,000
Height: 17.9”
Benchmarking

4. Functionality 22 Degrees of Freedom Autonomous Control
Wireless Control
Object Avoidance
Camera Vision
Voice Control
Balancing
Walking - Future Development
Functionality

5. Functional DecompositionB C D E
Electromechanical
(reference)
Body Movement
Servos
Stepper
DC-motor
Linear actuator
Cables
Selection Criteria
Weight
Rating
Weighted Score
cost
25% 1
0.25 3
0.75 4 2
0.5
weight
15%
0.6
0.15
0.45
availibility
0.3
control
capable torque
20%
0.8
0.4
capable speed
time to implement/shelf part
10% 5
0.2
Total Score
3.65
2.90
3.55
4.00
2.25
Rank
Continue
yes
Motor Concept Screening Matrix
Functional Flow Chart
Sensors Concept Screening Matrix
Environmental Sensors
Concepts A B C D
Sonar
Infrared
Laser Rangefinder
Photocell
Selection Criteria
Weight
Rating
Weighted Score
Short Range Detection
25% 2
0.5 3
0.75 4 1
0.25
Long Range Detection
Object Definition
15%
0.3
0.45
0.6
0.15
Power Consumption
Cost
10%
0.2
0.1
0.4
Total Score
2.50
2.95
2.05
Rank 5
Continue?
yes no
Functional Decomposition

6. Detailed Design Component Stress Calculations Torque Calculations
leg lift (1 leg)
Squat (2 leg)
Torque at Hip
Ankle
Knee
MAX (lb-in)
(oz-in) FS
ROBOARD SERVO SPECS • Standard size digital servo • 35.0 kg-cm/486.0 oz-in • Speed: 0.11 sec/60º • Voltage: 6 to 7.4V • Weight: 70g
Elbow Torque
F (lbs)
in-lb
oz-in FS
Detailed Design

7. Mechanical Design Custom and Commercial Brackets Custom Body
Custom Links
Custom Hip Joint
Mechanical Design
Mechanical Design

8. Computer Design Onboard Computer Balancing Algorithms
Walking Algorithms
Basic Motion
Computer Design

9. Electrical Design Accelerometer and Gyroscope
Infrared and Ultrasonic Sensors
Voice Recognition Module
Video Camera Vision
Custom Power PCB
Roboard 110 w/
lUbuntu and ROS
EasyVR Speech
Recognition
Lynxmotion SSC 32
Electrical Design
Sharp Infrared Sensor
Ultrasonic Maxsonar EZ0
6-axis IMU
Custom PCB Layout

10. Thank You