Robot

Sung-mok SeoOk-nam LeeYoon-ho NaSu-min Park

Contents

• Manufacture part•Modeling•Moving mechanism

• Control part• PC part

•MSRS workshop

Robot feature

• Body size : 25cm by 25cm• Weight : Max 15kg• Speed : 0.15 m/s• No. of motors for legs : At least 12

Modeling of a leg

Motor for rotating

Shoulder motor

Knee motor

Foot

Change the direction

Upside view

Moving mechanismChange of center of

gravity

Moving mechanism

Change of center of gravity

Moving mechanism

Change of center of gravity

Moving mechanism

Change of center of gravity

Moving mechanism

Change of center of gravity

Moving mechanism

Change of center of gravity

Moving mechanism

Moving mechanism

Moving mechanism

Moving mechanism

Moving mechanism

Moving mechanism

Modeling for a leg(2)

Control Part(1)

• We purchased JTAG & DSP (TMS320LF2407A)

Control Part(2)

• Code Composer Studio & JTAG

Control Part(3)

PC part

• Robot software technical workshop (3/29, 4/5)- M.S.R.S

– Simulation of a robot–MazeExplorer– Vision process– Pattern recognition

M.S.R.S

Maze forming

Simulation

M.S.R.S

MSRS programming

M.S.R.S

Pattern recognition

M.S.R.S

Vision process

Thank you