RoboWiki - Recent changes [en]

WalkerBot

JBridon — Mon, 06 Sep 2010 21:06:09 GMT

Current Tasks:

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	*** Good example of a Cad-based solution: http://i187.photobucket.com/albums/x228/ncabalos/legConfig.jpg		*** Good example of a Cad-based solution: http://i187.photobucket.com/albums/x228/ncabalos/legConfig.jpg
	*** The above implementation in hardware: http://www.hbrobotics.org/wiki/index.php5/Image:QUAD20b.jpg		*** The above implementation in hardware: http://www.hbrobotics.org/wiki/index.php5/Image:QUAD20b.jpg
		+	*** Most flexible system seen thus far: http://www.hexapodrobot.com/forum/viewtopic.php?f=11&t=331
		+	*** High-torque robot: http://www.youtube.com/watch?v=guM1tXfgIjw&feature=related
	* Prototype in some AutoCAD - Start sketching models up		* Prototype in some AutoCAD - Start sketching models up
	** ''In progress''		** ''In progress''

Capture The Flag

JBridon — Mon, 06 Sep 2010 19:37:17 GMT

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-	[[Image:~~Arena2008~~.~~jpg~~\|~~frame~~\|The ~~2008~~ Arena Layout. ~~Not yet finalized~~.]]	+	[[Image:Arena2010.png\|thumb\|The 2010 Arena Layout. Source file can be found [http://psurobotics.org/files/CTFMaze.psd here].]]
	''Contest will be hosted at the end of Fall 2010.''		''Contest will be hosted at the end of Fall 2010.''

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	== General Rules ==		== General Rules ==

-	[[Image:Flag.png\|frame\|left\|The 2007 Flag Design]]	+	[[Image:Flag.png\|frame\|left\|The 2007 Flag Design - the 2010 flag will be better designed, but will retain the same shape.]]
-	# '''General Rules:''' Each robot will be given two time trials, each lasting a maximum of 3 minutes. The robot will start in its base and try to successfully get into the opposite base, recover a flag, and return the flag to its base. If this is completed in less than the allotted time, the fastest robot will win. Otherwise, the team that acquires the most points will be victorious. Details of scoring can be found in the "General Bonuses and Deductions" section.	+	# '''General Rules:''' Each robot will be given two time trials, each lasting a maximum of 5 minutes. The robot will start in its base and try to successfully get into the opposite base, recover a flag, and return the flag to its base. If this is completed in less than the allotted time, the fastest robot will win. Otherwise, the team that acquires the most points will be victorious. Details of scoring can be found in the "General Bonuses and Deductions" section.
	# '''Robot Size:''' While in its starting position, the robot must exceed no more than 12" in height, 12" in length, and 12" in width. At any point during the competition, the robot must not exceed 18" by 18" by 18". Failure to adhere will result in disqualification for the round. There is no weight restriction.		# '''Robot Size:''' While in its starting position, the robot must exceed no more than 12" in height, 12" in length, and 12" in width. At any point during the competition, the robot must not exceed 18" by 18" by 18". Failure to adhere will result in disqualification for the round. There is no weight restriction.
	# '''Robot Starting Position:''' The robot must always start fully inside its home base, facing any direction. See "Arena" for base size and location. It cannot start while in contact with the flag.		# '''Robot Starting Position:''' The robot must always start fully inside its home base, facing any direction. See "Arena" for base size and location. It cannot start while in contact with the flag.
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	# '''Modification between Rounds:''' Robots maybe be re-programmed or modified in any way between rounds. Table space (however limited) will be available at the site of the competition.		# '''Modification between Rounds:''' Robots maybe be re-programmed or modified in any way between rounds. Table space (however limited) will be available at the site of the competition.
	# '''Restricted Areas:''' A robot may not exit the arena at any time during competition.		# '''Restricted Areas:''' A robot may not exit the arena at any time during competition.
-		+	# '''Flag Placement:''' The flag may be placed in either the standard location (see the 2010 CTF Maze Design image), but can be moved directly between the ramps for an "easier level" of difficulty. If a team chooses to do this, a 40 second penalty will be added to the total time.

	== Time Trial ==		== Time Trial ==

File:Arena2010.png

JBridon — Mon, 06 Sep 2010 19:32:37 GMT

uploaded "[[File:Arena2010.png]]"

New page

Anthony Cascone

Ajc317 — Mon, 06 Sep 2010 00:22:18 GMT

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-	''Last updated ~~May 6th~~, ~~2008~~''	+	''Last updated September 5th, 2010''

	[[Image:ACHeadshot.jpg\|frame\|I need an updated picture]]		[[Image:ACHeadshot.jpg\|frame\|I need an updated picture]]
-	I joined the club in 2005 and served as the secretary for that year. The year after, I had the opportunity to help the club as the president with the focus of building membership. I lucked out that year by having a great group of students join the club and take charge. At the end of my term as president, I graduated and applied to grad school at Penn State and continued to support the club during my first year as a ~~master~~ student.	+	I joined the club in 2005 and served as the secretary for that year. The year after, I had the opportunity to help the club as the president with the focus of building membership. I lucked out that year by having a great group of students join the club and take charge. At the end of my term as president, I graduated and applied to grad school at Penn State and continued to support the club during my first year as a masters student.

	== General Information ==		== General Information ==
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	* Projects:		* Projects:
	** [[Mini Grand Challenge]]		** [[Mini Grand Challenge]]
-	** AUVSI [[IGVC]]	+	** AUVSI [[IGVC]] 2008, 2009, 2010, 2011.
	** New Student Recruitment/Education		** New Student Recruitment/Education

	* Office:		* Office:
-	** ~~104 Engineering Unit C~~	+	** 16 Applied Science Building

	* Website:		* Website:

WalkerBot

JBridon — Sun, 05 Sep 2010 21:10:21 GMT

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	WalkerBot is a four-legged (quadruped robot) [[Tabletop Robotics\|table-top robot]] used for generic applications & research. The goal is to make it an open-source hardware and software design, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as the [[Arduino]] microcontroller to keep things as simple as possible.		WalkerBot is a four-legged (quadruped robot) [[Tabletop Robotics\|table-top robot]] used for generic applications & research. The goal is to make it an open-source hardware and software design, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as the [[Arduino]] microcontroller to keep things as simple as possible.

-	[[Image:Design1_WalkerBot.png\|~~frame~~\|Solid view of the prototype robot.]]	+	[[Image:Design1_WalkerBot.png\|thumb\|Solid view of the prototype robot.]]

-	[[Image:Design2_WalkerBot.png\|~~frame~~\|X-Ray view internals of the prototype robot.]]	+	[[Image:Design2_WalkerBot.png\|thumb\|X-Ray view internals of the prototype robot.]]

	= Project Goals =		= Project Goals =

File:Design2 WalkerBot.png

JBridon — Sun, 05 Sep 2010 20:59:53 GMT

uploaded a new version of "[[File:Design2 WalkerBot.png]]"

New page

File:Design1 WalkerBot.png

JBridon — Sun, 05 Sep 2010 20:59:47 GMT

uploaded a new version of "[[File:Design1 WalkerBot.png]]"

New page

File:Design2 WalkerBot.png

JBridon — Sun, 05 Sep 2010 20:56:28 GMT

uploaded "[[File:Design2 WalkerBot.png]]"

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WalkerBot

JBridon — Sun, 05 Sep 2010 20:56:09 GMT

Description:

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	= Description =		= Description =
	WalkerBot is a four-legged (quadruped robot) [[Tabletop Robotics\|table-top robot]] used for generic applications & research. The goal is to make it an open-source hardware and software design, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as the [[Arduino]] microcontroller to keep things as simple as possible.		WalkerBot is a four-legged (quadruped robot) [[Tabletop Robotics\|table-top robot]] used for generic applications & research. The goal is to make it an open-source hardware and software design, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as the [[Arduino]] microcontroller to keep things as simple as possible.
		+
		+	[[Image:Design1_WalkerBot.png\|frame\|Solid view of the prototype robot.]]
		+
		+	[[Image:Design2_WalkerBot.png\|frame\|X-Ray view internals of the prototype robot.]]

	= Project Goals =		= Project Goals =

Rambler

JBridon — Sun, 05 Sep 2010 19:53:32 GMT

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		+	Rambler was created by [[Dan Magagnosc]] and [[Andy Wilson]] in 2008 for the Firefighting Robot Competition in the Walking Division. It won third place in its division and the Versa valve challenge for that year. You can see a video of it in the competition [http://www.youtube.com/watch?v=jnUatnY1jQo here in Trinity].
	[[Image:Rambler.png\|frame\|Rambler at the Trinity event.]]		[[Image:Rambler.png\|frame\|Rambler at the Trinity event.]]
-	~~Rambler was created by Dan and Andy in 2008 for the Firefighting Robot Competition in the Walking Division. It won third place in its division and the Versa valve challenge.~~

-	[~~http://www~~.~~youtube.com/watch?v=jnUatnY1jQo Video: Testing Rambler~~]	+	The robot is officially becoming the club's [[Trinity Firefighting Competition]] legacy robot. [[Jeremy Bridon]] will be leading the legacy team for the 2010-2011 academic year along with the side research project [[WalkerBot]].

		+	= Description =
		+
		+	Ramber is a six-legged robot whose two front and back have two degrees of freedom, while the middle two legs only have one. The robot was designed for simplicity and consistent movement. The device is contained within a cubic foot and used to be controlled by a Parallax Propeller, but is now being interfaced with an [[Arduino]] Mega. In total, there are ten (10) continuous servos.
		+
		+	= Project Goals =
		+	Rambler, for 2010-2011, must accomplish all of the following goals: '''win''', '''cheap''', '''stable''', and '''easily reproducible'''!
		+
		+	= Current Tasks =
		+	* Remove the Propeller and use the Arduino Mega microcontroller
		+	* Verify all servos correctly move
		+	* Verify wiring
		+	* Create the sensor "head" (a rotating head that has both range and light sensors)
		+	* Redo the padded / rubber foot pads
		+	* Clean surface, but do not repaint
		+	* Remove buttons / high-leg state sensors
		+	* Create a sensor / head package
		+	* Put out the flame using the solenoid / compressed air technology
		+	* Implement a wall following
		+	* Have a remote control option
		+	* Have wireless control
		+	* Implement a zero-degree turn
		+	* Find a servo controller that can support all major servos
		+	* Find a good power management utility

	[[Category:Hardware]]		[[Category:Hardware]]

WalkerBot

JBridon — Sun, 05 Sep 2010 19:50:27 GMT

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	= Project Goals =		= Project Goals =

-	WalkerBot must accomplish all of the following goals: '''cheap''', '''stable''', and '''easily reproducible'''!	+	WalkerBot must accomplish all of the following goals: '''win''', '''cheap''', '''stable''', and '''easily reproducible'''!
	* Open-source hardware and software (Similar to the Arduino platform)		* Open-source hardware and software (Similar to the Arduino platform)
	* Cheap, targeting $250 US per robot instance		* Cheap, targeting $250 US per robot instance
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	* Least amount of servos needed		* Least amount of servos needed
	* "Off the shelf" materials		* "Off the shelf" materials
		+	* Create the sensor "head" (a rotating head that has both range and light sensors)

	= Current Tasks =		= Current Tasks =

User:Barkerlaidora4flb

Barkerlaidora4flb — Fri, 03 Sep 2010 05:25:18 GMT

New user account

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Whisperbrand10e7 — Fri, 03 Sep 2010 03:26:37 GMT

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Tyleraxerunnere4pn — Fri, 03 Sep 2010 01:28:33 GMT

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User:Runeredeemerdelgadohm0e

Runeredeemerdelgadohm0e — Thu, 02 Sep 2010 23:29:17 GMT

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Chasebludbearerutzm — Thu, 02 Sep 2010 21:28:38 GMT

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User:Bloodbrewmr3m

Bloodbrewmr3m — Thu, 02 Sep 2010 17:20:25 GMT

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User:Saithirim1980b2mr

Saithirim1980b2mr — Thu, 02 Sep 2010 15:06:40 GMT

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WalkerBot

JBridon — Tue, 31 Aug 2010 21:38:54 GMT

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-	WalkerBot is a proposed club research project whose goal is to create a walking robot used for generic robotics applications~~. Though this~~ robot ~~is not directly intended~~ for the [[Trinity Firefighting Competition]], it is a good example of ~~a possible application~~.	+	WalkerBot is a proposed club research project whose goal is to create a walking robot used for generic robotics applications and to compete in the walking-robot category for the [[Trinity Firefighting Competition]]. This version, one of two walking robots, the other being [[Rambler]], is being officially lead by [[Jeremy Bridon]] for the 2010-2011 academic year.
		+
		+	Several good example of what we want to aim for can be found [http://www.youtube.com/watch?v=9GANtRooXlc here] (best example here), [http://www.youtube.com/watch?v=MFgePgQ73Ws here] (not as complex as this one), [http://www.youtube.com/watch?v=F-Z0GeIS4Pg here] (faster), and [http://www.youtube.com/watch?v=uQ5W9ULn6G8&feature=fvw here] (not as flexible).

	= Description =		= Description =
-	WalkerBot is a four-legged (~~quadrapod~~) [[Tabletop Robotics\|table-top robot]] used for generic applications. The goal is to make it open-source ~~for~~ hardware and software, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as ~~using~~ the [[Arduino]].	+	WalkerBot is a four-legged (quadruped robot) [[Tabletop Robotics\|table-top robot]] used for generic applications & research. The goal is to make it an open-source hardware and software design, such that it is fully reproducible. It also uses current proven technologies developed within the club, such as the [[Arduino]] microcontroller to keep things as simple as possible.

	= Project Goals =		= Project Goals =

-	WalkerBot must accomplish all of the following goals:	+	WalkerBot must accomplish all of the following goals: '''cheap''', '''stable''', and '''easily reproducible'''!
-	* Open-source hardware and software (Similar to Arduino)	+	* Open-source hardware and software (Similar to the Arduino platform)
-	* Cheap, targeting $250 US	+	* Cheap, targeting $250 US per robot instance
	* Small, less than a cubic foot		* Small, less than a cubic foot
		+	* Maintainable, all parts are easily replaceable
	* Functionally works for 30+ minutes of normal operation		* Functionally works for 30+ minutes of normal operation
	* Mountable surfaces for sensors		* Mountable surfaces for sensors
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	= Current Tasks =		= Current Tasks =

-	* Research ~~- Find other walking robots~~	+	* Research
-	** ~~Needed hardware? Motor controller, microcontroller (Arduino mini?)~~	+	** Walking:
-	** ~~Sample leg~~ implementations: http://www.lynxmotion.com/Category.aspx?CategoryID=95	+	*** Leg implementations: http://www.lynxmotion.com/Category.aspx?CategoryID=95
-	** Clean and simple implementation: http://www.lynxmotion.com/images/index/nqp01.jpg	+	*** Clean and simple implementation: http://www.lynxmotion.com/images/index/nqp01.jpg
-	** '''Very''' clean simple '''small''' implementation: http://www.sjlrobotics.20m.com~~/images~~/quad.~~JPG~~	+	*** This is the kind of motion we should be getting: http://www.youtube.com/watch?v=M_YN8-OwVf4
-	* Prototype in some ~~CAD~~ - Start sketching models up	+	*** '''Very''' clean simple '''small''' implementation: http://www.sjlrobotics.20m.com/quad-pod.html
-	* Sketch up costs - 4 legs X 3 servos X $15 per servo = 180	+	*** Good example of a Cad-based solution: http://i187.photobucket.com/albums/x228/ncabalos/legConfig.jpg
-	* ~~Movement algorithms?~~ How can we get this to move organically, without feedback?	+	*** The above implementation in hardware: http://www.hbrobotics.org/wiki/index.php5/Image:QUAD20b.jpg
		+	* Prototype in some AutoCAD - Start sketching models up
		+	** ''In progress''
		+	* Sketch up costs
		+	** 4 legs X 3 servos X $15 per servo = 180 for the system
		+	** ''etc...''
		+	* Controller systems
		+	** How can we get this to move organically, without feedback?
		+	** Are we going to do an on-board computational system, or a full PC wireless connection, or dedicated off-robot solution?
		+	** It has been suggested to implement an IK system?
		+	* Items list:
		+	** Chassis
		+	** Microcontroller
		+	** Servos
		+	***
		+	**
		+
		+	= Construction =
		+	It is currently unknown how this robot will be built. We are planning to build this robot from cutting through materials (think of cookie-cutting up the chassis materials) then connecting parts through either glue or bolts & nuts. We are aiming to make this mass-producible, so expect the use the [http://www.lf.psu.edu/ PSU Learning Factory].

	[[Category:Hardware]]		[[Category:Hardware]]

Jeremy Bridon

JBridon — Tue, 31 Aug 2010 20:59:52 GMT

General Information:

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	* Projects		* Projects
	** Website/Wiki		** Website/Wiki
		+	** Club tutorials / advising
		+	** [[WalkerBot]]
	** [[Mini Grand Challenge]]		** [[Mini Grand Challenge]]
	** [[IGVC]]		** [[IGVC]]