Roo Autonomous Hopping Robot
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Transcript of Roo Autonomous Hopping Robot
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RooAutonomous Hopping Robot
Intelligent Machines Design Lab
EEL 5666
Aaron Suedmeyer
![Page 2: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/2.jpg)
Beginning Idea
• Pogo stick with balancing
![Page 3: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/3.jpg)
First Evolution
• 2 legged hopper
• Test platform– No balancing– No foot– No direction
![Page 4: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/4.jpg)
First Evolution - Problems
• Could not implement directional changes
• Could not get gyros to work
• Could not use tilt method
![Page 5: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/5.jpg)
Second Evolution
• 2 legged hopper– Legs closer together– 1 round foot– No balancing– Leaned at 15º angle– Implemented direction changes
![Page 6: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/6.jpg)
Third Evolution
• 2 legged hopper– 1 foot with skis– No balancing– Implemented direction changes– Leans at 10º angle
• Behaviors– IR following
![Page 7: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/7.jpg)
Sensors
• 2 IR detectors– IR following
• 1 micro switch– Locking
• Accelerometer– Sensor to indicate pitch of robot– Not implemented
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Integrated System
• TJ Pro board
• 2 servos (200 ounce/inch)– Stretching rubber bands
• 2 servos (40 ounce/inch)– Locking– Changing direction
![Page 9: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/9.jpg)
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
![Page 10: Roo Autonomous Hopping Robot](https://reader031.fdocuments.in/reader031/viewer/2022020117/56812b20550346895d8f1e7d/html5/thumbnails/10.jpg)
The End
• Roo – Autonomous
Hopping Robot