Roo Autonomous Hopping Robot
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Transcript of Roo Autonomous Hopping Robot
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