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The American

Ivan BukreyevUniversity of Florida

IMDL, 9/18/2012

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Special Sensor

Physics/EE backgroundNot much mechanical background

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Special Sensor

Physics/EE backgroundNot much mechanical background

So…Make mechanically challenging

platform – hexapod

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Design

http://en.wikipedia.org/wiki/File:InsectLeg.png

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Design

http://en.wikipedia.org/wiki/File:InsectLeg.png

Femur – up/down motionTibia – toward/away

motionCoxa –left/right motionOverall 3 degrees of

freedom (XYZ) per leg

Every (don’t quote me on this) Insect’s lag has:

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Design

Femur

Tibia

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Design

Coxa

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Hexapod model

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Implementation

Undisclosed amount of $ and 211 screws later:

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Implementation

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Implementation

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Control

if (dataInBufC0()){

fscanf(&USB_str,"%c",&read);/* Smart Stuff */

}

for (uint8_t i=0;i<=18;i++) setServoPosition(i,position[i]);

Serial (Temporary) – needed to determine motion domain per servo(a) and allowed relative position of adjacent legs (b)

Wait

Process

Do

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Current StatusMechanical platform: completed (ish)Power: 3 sell 4 Ah Lipo, protected by

voltage monitor (and my reaction time)

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Current StatusMechanical platform: completed (ish)Power: 3 sell 4 Ah Lipo, protected by

voltage monitor (and my reaction time) Sensors: Sonar, 2x IR rangefinder,

BlueSmirf, IR transmitter - on orderBoard: Epiphany DIY

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Current StatusMechanical platform: completed (ish)Power: 3 sell 4 Ah Lipo, protected by

voltage monitor (and my reaction time) Sensors: Sonar, 2x IR rangefinder,

BlueSmirf, IR transmitter - on orderBoard: Epiphany DIYStatus Update: LCD, work in progressImaging: GalaxyS2 – work in progress

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Sensor Feedback

Use low level sensors (Sonar, IR) to move about and avoid obstacles (possibly do primitive mapping?)

Use camera to search for a box

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Sensor Feedback

Use low level sensors (Sonar, IR) to move about and avoid obstacles (possibly do primitive mapping?)

Use camera to search for a box

If I can find a box, I will search for a TV

If I can find a TV, I will use IR transmitter to turn it on/off

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Questions?

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Questions?

Answer: All you base are belong to us