RooAutonomous Hopping Robot

Intelligent Machines Design Lab

EEL 5666

Aaron Suedmeyer

Beginning Idea

• Pogo stick with balancing

First Evolution

• 2 legged hopper

• Test platform– No balancing– No foot– No direction

First Evolution - Problems

• Could not implement directional changes

• Could not get gyros to work

• Could not use tilt method

Second Evolution

• 2 legged hopper– Legs closer together– 1 round foot– No balancing– Leaned at 15º angle– Implemented direction changes

Third Evolution

• 2 legged hopper– 1 foot with skis– No balancing– Implemented direction changes– Leans at 10º angle

• Behaviors– IR following

Sensors

• 2 IR detectors– IR following

• 1 micro switch– Locking

• Accelerometer– Sensor to indicate pitch of robot– Not implemented

Integrated System

• TJ Pro board

• 2 servos (200 ounce/inch)– Stretching rubber bands

• 2 servos (40 ounce/inch)– Locking– Changing direction

Code

• Main()– Sets servo defaults

– Sets IR offsets

– Starts processes

• ActionServos()– Sets servo degrees

based on sensors

• ReadSensors()– reads sensor data

• Routine()– Timing for jump

– Runs search()

• Search()– Finds IR

– Runs spinDirection()

• SpinDirection()– search pattern

The End

• Roo – Autonomous

Hopping Robot