Function Decomposition
Shell Concept Designs
• Based off of:– Iron Man– QRIO– iRobot
Shell Design Example
Shell Design Example
Limb/Joint Design
Concept Selection – Limbs
Preliminary Torque Calculations – Knee
Preliminary Torque Calculations – Hip
Preliminary Torque Calculations – Shoulder
Concept Selection – Servos
Concept Selection – IMU
Concept Selection – Batteries
Concept Selection – Misc EE Items
Software Flowchart
Concept Selection – Microcontrollers
Planning Schedule