HM2015
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Sirius is an omni-directional quadruped robot with 16 degrees of freedom that can operate in both a legged and wheel mode. It uses Dynamixel servo motors controlled by a microcontroller and touch screen interface. The mechanical design allows for reconfigurability between modes. Testing of gait designs was done in MATLAB and the microcontroller controls the walking gait. Current limitations include low speed and heavy weight but future work could improve dynamic gait control and terrain detection.
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HM2015
- 1. SIRIUS
- 3. Inspiration
- 4. MeetSirius
- 5. Application
- 6. Demo
- 7. Demo
- 8. Demo
- 9. Demo
- 10. Demo
- 11. Omni drive + 16 DOF Quadruped Computationally inexpensive Semi-automatic Re-configurability Touch UI + Wireless Control Terrain Classification Features
- 12. MechanicalDesign
- 13. MechanicalDesign
- 14. Concept Legged Mode Wheel Mode
- 15. WheelDesign
- 18. Manufacturing Wheel Prototype Base Prototype I Base Prototype II Base Prototype III
- 19. EmbeddedSystems
- 20. Touch UI Digital Servo Motor Servo Motor Servo Controller Board ControlFlow X-bee UART1 UART2 Microcontroller(8-bit)
- 21. 5V Supply Digital Servo Motor Microcontroller Board 6V Supply Voltage Regulator and Distributor Servo Motors Servo Controller PowerFlow Battery
- 22. • Digital packet communication control • Daisy Chain linking structure Model: Dynamixel ax 12A Operating Voltage: 9-12V No load speed: 60rpm Torque: 1.5Nm at 12V DigitalServo Status Packet (ID=N) ID=0 ID=1 ID=N Status LED Instruction Packet(ID=N) Daisy Chain
- 23. ServoController • 34 bytes Packet -> 16 Motor Control • Communication protocol :UART & USB • Input Voltage: 5V Servo Controller 8bit Microcontroller 170,10,10,03,32,33,10,16,10,16,10,16,10,16,10,16---10,16(34Byte) Start bytes Data Packet(ASCII values) using UART2 0deg 180deg 90deg Servo Controller
- 24. Matlab Inverse Kinematics Calculation GaitDesign&Testing Microcontroller (8-bit) Digital Servo Motor Servo Motor X-bee Servo Controller Board UART 1 UART2 Gait Design
- 25. States Leg 1 : 5 x 2 states Positions Contact(Y/N) Total States 10 x 10 x 10 x 10 = 10000 STABILITY POLYGON Final States ~1600
- 26. GaitSelection ~1600 States STABILITY POLYGONCONSTRAINT ~16000 Gaits ~50 Stable Gait FINAL GAIT 1 • Closed Loop • Angle (< 90) Manual Selection
- 27. Component Specification Servo Motors Torque: 16kgcm at 6V Stall Current: 1.5A Speed: 0.16sec/60deg Dynamixel Model: ax 12A Operating Voltage: 9-12V No load speed: 60rpm Torque: 1.5Nm at 12V Touch Screen 4D systems Resistive Touch Screen 16-bit processor Servo Controller Operating Voltage: 5V 16 Servo control Microcontroller Atmega 2560 Xbee Module Xbee module, 2.4Ghz 30m indoor range ComponentList
- 28. Component Specification Slip Rings • Voltage: 210VDC / 240VAC • Current Rating: 2A • Operating Speed: 250RPM IC 317 (Voltage Regulator) V-out range: 1.25V-37 V Vin V-out difference: 3V-40V Max output current: 1.5A Accelerometer (ADXL335) 3-axis sensing Operating voltage :1.8V to 3.6V IC 74241(Octal Buffer) 3state output octal buffer Battery Lithium Polymer: 11.1V, 5Ah 20C discharge battery ComponentList
- 29. Components Quantity Cost ATMEGA2560 Development Board 1 ₹2,000 Mechanical Manufacturing 1 ₹1,000 X-bee wireless module 2 ₹2,000 LCD touchscreen 1 ₹3,000 Servo Motors 12 ₹12,000 Servo Controller 1 ₹1,000 Dynamixel 4 ₹12,000 Camera(with receiver) 1 ₹2,000 TOTAL ₹35,000 CostAnalysis
- 30. FutureImplementation (a) Plane Surface (b) Gravel 16- point FFT for Accelerometer data in Vertical Direction
- 32. • Wireless control • Different mode for different type of terrain • Mode transformable. • Can’t use dynamic gait due to processor limitations • Low speed • Heavy Weight Salient Features Limitations • Improvement in dynamic gait • Improve terrain detection with higher processor • perfect experimental test bed for studying animal behavior & AI Future Scope Conclusion
- 33. Demonstration
- 34. Q&A
Editor's Notes
- Dog cant run faster than car or train but at the same time car and train have rough time on rough terrain. So why not get the capability of both and make a hybrid. Advantage of leg robot Isolate their body from terrain irregularities Avoid undesirable footholds Regulate their stability Achieve energy efficiency
- Hybrid of dog and car/atv Quadruped animals and optimus prime(transformers). :P In last few decades, researchers have come up with two different approaches to elevate robot’s adaptation to the environment, one is to design special mechanisms to overcome uneven terrain and the other is to focus on behavioral development of a given robot to adapt different situations. Both approaches exist, but only a few works tried to solve the problem from both aspects simultaneously. Why not dog have wheels?
- Hybrid of dog and car/atv Quadruped animals and optimus prime(transformers). :P In last few decades, researchers have come up with two different approaches to elevate robot’s adaptation to the environment, one is to design special mechanisms to overcome uneven terrain and the other is to focus on behavioral development of a given robot to adapt different situations. Both approaches exist, but only a few works tried to solve the problem from both aspects simultaneously. Why not dog have wheels?
- Dog cant run faster than car or train but at the same time car and train have rough time on rough terrain. So why not get the capability of both and make a hybrid. Advantage of leg robot Isolate their body from terrain irregularities Avoid undesirable footholds Regulate their stability Achieve energy efficiency
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Multi-terrain locomotion Different mode Touch UI Wireless control Terrain type detection Different gait/mode for different type of terrain The robot can adequately transform itself to adequate model for better locomotion performance. For maximum speed, energy efficiency, load carrying ability, or simplicity, use wheels. For maximum dexterity or the ability to traverse the most difficult terrain, use legs. Omni directional drive Symmetric
- Video aaega yahaan
- Images= bot parts
- Feature: Position Control(300deg) Free rotation mode High Torque Easy Communication through daisy chain linking Feature: Position Control(180deg) Cheaper High Torque
- Add gif image