This thesis proposes using an evolutionary algorithm to optimize the design of mobile robots for rough terrain based on a modular construction kit approach. The document outlines the methodology, which involves (1) refining an existing construction kit, (2) simulating robot designs in various environments, and (3) using evolution to optimize robot parameters for mobility. Two robot designs are evolved and their performance is evaluated in simulated environments. Physical prototypes are then rapidly constructed to validate the approach. The results demonstrate that evolutionary optimization can produce robust robot designs for rough terrain within limited timeframes using a standardized set of components.
The document presents a project synopsis for a fuzzy-based self-transforming robot. It discusses how the robot can transform its shape according to obstacles in its path using a fuzzy logic system. Extensive simulations were carried out to validate the fuzzy system's performance. The robot is intended to navigate rough terrain and unpredictable environments. It reviews previous related work on shape-shifting robots and modular robots. The objectives are to develop the robot's mechanical structure and control system to achieve various locomotion modes. Advantages include adaptation and robustness, while a disadvantage is reduced performance compared to task-specific robots. Potential applications include construction, exploration, search and rescue.
— This slide introduces a mars exploration robot based system that useful to explore the planet mars. Mars Rover Mongol Pothik is a semi-autonomous robot that is developed based on sensors and interactive applications. The robot is capable of completing human assistant tasks, Astronaut assistance task, collecting resource from planet mars, giving a feedback of soils condition such as temperature, moisture, pH. This robotics system includes a web based mother station from where the rover is controlled and given instructions to complete tasks. The mars rover will be used in planetary exploration research to explore life on mars. This rover has rocker-bogie suspension system, robotics arm, Drilling mechanism, live feed camera, aluminum wheels suitable to explore planet mars. This research is mainly focused on robotic system and computational efficiency. The system is consist of a GPS system for mapping purpose and smooth controlling features. In his paper we will discuss about different functionalities of mars rover. The end result will show the efficiency, impact and performance analysis of the system.
This document summarizes the market research and design process of a student team creating an advanced lunar rover. It discusses existing rover designs from NASA, including the Sojourner, Spirit, Athlete, and Curiosity rovers. These rovers informed the requirements for the new design, including flexibility to navigate different terrains, minimizing energy usage, and negotiating difficult surfaces. The document then covers the team's concept generation and selection of components, including wheels, suspension, power source, and materials. Design prototypes, calculations, and a management plan are also summarized to outline the comprehensive process undertaken to create a more advanced lunar rover design.
Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover ReportRoshansharma99
"Design and fabrication of Rocker Bogie Mechanism Automated Combat Rover" offer the indispensable thing of
improving the Rover to utilize it for Military reasons. The Rover should work on landscape surface wherein our ordinary
Defense Rover can't travel and for which it is structured anyway a few components limit its operational abilities, so the focal
point of our exploration is to vanquish those limitations. Our examination on the issue of the Rover led with the guide of our
group particularly centered around the alteration of the Rover which can be directly utilized for Space Exploration, the linkage
of the Rover from different issues that had been acquired from the literature review and studies in this way, research was led on
the most proficient method to overcome that. The Rover is completely made of using PVC to expand its capacity to withstand
Mechanical shock, vibrations, and mechanical failures brought about by the territory surfaces where its miles worked on. Using
planning programming CATIA the structure of the Rocker bogie mechanism Rover was made. Utilizing the model and stay
check all the enhancements and capacity have been incorporated into the Rover. The consequence of the endeavor transformed
into the usage of fair directional oversee using least force modules which builds the presentation of the battery and will expand
the running time of the Rover. In this manner, the different updates had been made like live-streaming camera Remote-control
gadget with temperature sensors, separation Measuring framework with appropriate mechanical structure, and mechanical
attainability.
This document discusses the design and fabrication of a rocker-bogie mechanism. It begins with an introduction that describes how the rocker-bogie system was designed for slow speeds to overcome obstacles up to the size of its wheels. It then provides more details on the rocker-bogie mechanism, including its idea and application using a two-wheeled rocker arm and bogie connection to allow the rover to climb obstacles. The document outlines the parts that need to be fabricated for the mechanism and lists potential future uses including lunar and terrain exploration and vehicular suspension. It concludes with thanking the reader.
The document describes a rocker-bogie suspension mechanism for a rover robot. It discusses how mobile robots can be classified based on their locomotion, suspension, steering, and other properties. The rocker-bogie suspension allows a rover to traverse rough terrain by providing independent wheel movement and high ground clearance. Examples of past rover robots discussed include Lunakhod, NASA's Sample Return Rover, and the Mars Exploration Rovers. Applications mentioned include planetary exploration, operations in dangerous areas like nuclear plants, and potential future uses like indoor service robots.
The document describes the design and fabrication of a rocker bogie mechanism. It discusses:
1) The introduction of the rocker bogie suspension system used on Mars rovers and its ability to maintain contact over uneven terrain.
2) The objectives of the project to optimize speed while preventing flipping and increase cost effectiveness for exploration and other applications.
3) The related concepts of traction, stability, and mobility required for the rover to traverse rough terrain and obstacles.
Wheel diameter and RPM calculations are provided to design wheels that can achieve various speeds over different terrains. The requirements, applications, and future scope of the rocker bogie mechanism are also summarized.
Bigdog most advanced quadruped robot. Developed by Boston Dynamics. Funded by DARPA. Four legged robot, that can cope with extreme terrain and conditions with minimum intervention from humans. BigDog weighs about 109 kg (240 lbs), is about 1 meter tall, 1.1 meters long, and 0.3 m wide.
The document presents a project synopsis for a fuzzy-based self-transforming robot. It discusses how the robot can transform its shape according to obstacles in its path using a fuzzy logic system. Extensive simulations were carried out to validate the fuzzy system's performance. The robot is intended to navigate rough terrain and unpredictable environments. It reviews previous related work on shape-shifting robots and modular robots. The objectives are to develop the robot's mechanical structure and control system to achieve various locomotion modes. Advantages include adaptation and robustness, while a disadvantage is reduced performance compared to task-specific robots. Potential applications include construction, exploration, search and rescue.
— This slide introduces a mars exploration robot based system that useful to explore the planet mars. Mars Rover Mongol Pothik is a semi-autonomous robot that is developed based on sensors and interactive applications. The robot is capable of completing human assistant tasks, Astronaut assistance task, collecting resource from planet mars, giving a feedback of soils condition such as temperature, moisture, pH. This robotics system includes a web based mother station from where the rover is controlled and given instructions to complete tasks. The mars rover will be used in planetary exploration research to explore life on mars. This rover has rocker-bogie suspension system, robotics arm, Drilling mechanism, live feed camera, aluminum wheels suitable to explore planet mars. This research is mainly focused on robotic system and computational efficiency. The system is consist of a GPS system for mapping purpose and smooth controlling features. In his paper we will discuss about different functionalities of mars rover. The end result will show the efficiency, impact and performance analysis of the system.
This document summarizes the market research and design process of a student team creating an advanced lunar rover. It discusses existing rover designs from NASA, including the Sojourner, Spirit, Athlete, and Curiosity rovers. These rovers informed the requirements for the new design, including flexibility to navigate different terrains, minimizing energy usage, and negotiating difficult surfaces. The document then covers the team's concept generation and selection of components, including wheels, suspension, power source, and materials. Design prototypes, calculations, and a management plan are also summarized to outline the comprehensive process undertaken to create a more advanced lunar rover design.
Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover ReportRoshansharma99
"Design and fabrication of Rocker Bogie Mechanism Automated Combat Rover" offer the indispensable thing of
improving the Rover to utilize it for Military reasons. The Rover should work on landscape surface wherein our ordinary
Defense Rover can't travel and for which it is structured anyway a few components limit its operational abilities, so the focal
point of our exploration is to vanquish those limitations. Our examination on the issue of the Rover led with the guide of our
group particularly centered around the alteration of the Rover which can be directly utilized for Space Exploration, the linkage
of the Rover from different issues that had been acquired from the literature review and studies in this way, research was led on
the most proficient method to overcome that. The Rover is completely made of using PVC to expand its capacity to withstand
Mechanical shock, vibrations, and mechanical failures brought about by the territory surfaces where its miles worked on. Using
planning programming CATIA the structure of the Rocker bogie mechanism Rover was made. Utilizing the model and stay
check all the enhancements and capacity have been incorporated into the Rover. The consequence of the endeavor transformed
into the usage of fair directional oversee using least force modules which builds the presentation of the battery and will expand
the running time of the Rover. In this manner, the different updates had been made like live-streaming camera Remote-control
gadget with temperature sensors, separation Measuring framework with appropriate mechanical structure, and mechanical
attainability.
This document discusses the design and fabrication of a rocker-bogie mechanism. It begins with an introduction that describes how the rocker-bogie system was designed for slow speeds to overcome obstacles up to the size of its wheels. It then provides more details on the rocker-bogie mechanism, including its idea and application using a two-wheeled rocker arm and bogie connection to allow the rover to climb obstacles. The document outlines the parts that need to be fabricated for the mechanism and lists potential future uses including lunar and terrain exploration and vehicular suspension. It concludes with thanking the reader.
The document describes a rocker-bogie suspension mechanism for a rover robot. It discusses how mobile robots can be classified based on their locomotion, suspension, steering, and other properties. The rocker-bogie suspension allows a rover to traverse rough terrain by providing independent wheel movement and high ground clearance. Examples of past rover robots discussed include Lunakhod, NASA's Sample Return Rover, and the Mars Exploration Rovers. Applications mentioned include planetary exploration, operations in dangerous areas like nuclear plants, and potential future uses like indoor service robots.
The document describes the design and fabrication of a rocker bogie mechanism. It discusses:
1) The introduction of the rocker bogie suspension system used on Mars rovers and its ability to maintain contact over uneven terrain.
2) The objectives of the project to optimize speed while preventing flipping and increase cost effectiveness for exploration and other applications.
3) The related concepts of traction, stability, and mobility required for the rover to traverse rough terrain and obstacles.
Wheel diameter and RPM calculations are provided to design wheels that can achieve various speeds over different terrains. The requirements, applications, and future scope of the rocker bogie mechanism are also summarized.
Bigdog most advanced quadruped robot. Developed by Boston Dynamics. Funded by DARPA. Four legged robot, that can cope with extreme terrain and conditions with minimum intervention from humans. BigDog weighs about 109 kg (240 lbs), is about 1 meter tall, 1.1 meters long, and 0.3 m wide.
This thesis presents the design, analysis, and fabrication of a reconfigurable stair climbing robot. The robot uses a novel legged wheel design that allows each wheel to independently orient itself for improved mobility over uneven terrain. Dynamic simulation and finite element analysis were used to analyze step climbing and stresses. The robot was then fabricated and tested, demonstrating its ability to climb stairs of varying heights through independent control of its front and rear wheels.
A hexapod robot is a mechanical vehicle that walks on six legs, providing flexibility in movement. It can continue functioning even if some legs are disabled. The robot relies on an operator, the physical robot, and control software. Hexapod robots have advantages like stability, adaptability to surfaces, and redundancy. Applications include simulators, search and rescue, manufacturing, and antenna positioning. The document provides an overview of hexapod robots, including their workings, advantages, disadvantages, and applications.
The document describes a two-wheeled self-balancing robot project created by three students. It has two modes: balancing mode, where it automatically balances itself, and Bluetooth mode, where it can be controlled remotely via an Android phone. The robot was designed to be affordable and help disabled individuals, and incorporates a gyroscope, sensors, and an Arduino controller. The students faced challenges but created a functional prototype and discuss potential applications and future improvements.
This document summarizes an EE 323 project on vehicle platooning. The project objective was to design a Matlab/Simulink controller to achieve vehicle platooning using a Lego Mindstorms robot brick. The controller was tested through simulation and successfully managed the spacing between vehicles in the platoon. Some difficulties encountered included ensuring controller compatibility with the robot brick. The project demonstrated successful vehicle platooning control and recommended installing the necessary Matlab/Simulink toolbox on all design lab PCs.
1) The document describes the design and implementation of a pick and place robot using a PIC microcontroller, sensors, and DC motors. It includes the mechanical design of the robotic arm and gripper.
2) Simulation results show the robot arm moving in response to signals from the PIC microcontroller to the DC motors. The real-world behavior is then compared to the simulation results.
3) Different robot configurations - including Cartesian, cylindrical, parallel, and SCARA - are evaluated in terms of their advantages and disadvantages for various applications. The document concludes that the articulated robot arm performed pick and place tasks as intended.
International Journal of Computational Engineering Research (IJCER) ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology
This document summarizes the work of Prithvi Sekhar Pagala on designing and evaluating modular robots for maintenance tasks in large scientific facilities. Pagala developed heterogeneous modular robots composed of joint, power/control, and specialized modules to perform tasks like inspection, manipulation and locomotion within single and multiple beamlines. The robots were simulated in Gazebo and controlled using ROS. Pagala also developed a standardized connector, collaborated on tasks like radiation mapping and hot cell operations, and explored approaches like modular robot cooperation, intervention planning and energy management to improve reliability. The work aims to provide flexible and cost-effective robotic solutions for facility maintenance.
IRJET- Review on Hyper Maneuverable Multi-Functional RobotIRJET Journal
This document reviews research on a proposed hyper maneuverable multi-functional robot. It would use mecanum wheels for omni-directional movement and a jointed robotic arm for multiple functions. The arm would be controlled in real-time using sensors on the human arm to detect gestures and movements. The document provides background on mecanum wheels, reviews previous research on related topics, and proposes using accelerometers, gyroscopes and hall-effect sensors on the human arm to control the robot arm.
The document describes a student robotics project to design and test a remote-controlled robot capable of performing tasks required to build a colony on Mars, such as navigating obstacles and picking up building materials. The robot was tested in a mock Martian terrain containing obstacles and items to pick up. While the robot could navigate the terrain and pick up an item, it struggled to accurately drop off the item at the destination. The document discusses improvements that could enhance the robot's ability to complete the required tasks.
The document summarizes 3 research projects conducted by the author:
1. Independent research designing an improved modular robot called 360botG2 with enhanced mobility for exploration tasks. Prototypes were fabricated with 3D printing to reduce costs.
2. Designing a clearing device for a power line maintenance robot to remove hazardous entanglements. The developed device uses heating and blade tools controlled by a lifting mechanism. Experiments demonstrated its effectiveness.
3. As an undergraduate, designing and building a novel self-reconfigurable modular robot called 360bot with independent rotational mobility of each module. Prototypes were tested and a journal paper was published on this first robot design.
Smart Terrain Adaptive Robotic Suspension System (S.T.A.R.S.S)IRJET Journal
This document describes the design of a smart terrain adaptive robotic suspension system (S.T.A.R.S.S.) that aims to maintain a nearly horizontal chassis over various terrains. The suspension uses a modified parallel four-bar linkage mechanism and active control via an IMU, microcontroller, and servo motors. Kinematic and structural analyses were performed on the linkage design in simulation software. A prototype was built and tested on an undulating surface track while monitoring chassis attitude. Multiple tests resulted in code improvements and fulfillment of the objective of stabilizing the chassis.
IRJET - Six Wheel Drive Pick and Place Robot using ArduinoIRJET Journal
This document describes the design of a six wheel drive pick and place robot using Arduino. The robot consists of a six degree of freedom robotic arm mounted on a six wheeled drive chassis. The chassis allows for maneuverability on rough terrain. The arm is controlled by six servo motors to perform picking and placing tasks. An Android app is used to control the robot remotely by sending signals to the Arduino microcontroller via RF. The objectives are to increase the industrial and non-industrial applications of the robot by making it mobile and adding a storage area to perform tasks in bulk. The robot has potential applications in hazardous environments and for heavy lifting in industries. Future work may include adding autonomous capabilities and sensors.
DESIGN OF A DIFFERENTIAL DRIVE MOBILE ROBOT PLATFORM FOR USE IN CONSTRAINED E...ijiert bestjournal
This document summarizes the design of a differential drive mobile robot platform intended for use in constrained environments. The robot is designed with a rectangular frame, two driving wheels in front powered independently by DC motors, and two rear caster wheels for stability. Sensors including infrared and ultrasonic are included for obstacle avoidance. The kinematic analysis of the differential drive system is presented, relating the wheel velocities to the robot's linear and angular velocities. CAD models and specifications of the robot components are provided. The goal of the design is to create a low-cost, versatile platform that can operate in confined spaces like hospitals or warehouses.
This document describes an ETU LOCATION graduation project created by Çiğdem KILIÇ and Seval ÜNVER. The project is an online and mobile system for tracking lecturers at TOBB University. It aims to address the problem of students and lecturers having difficulty finding each other on campus. The system was built using technologies like ASP.NET, C#, Android SDK, and has both a web interface and mobile app. It allows users to view lecturer profiles and locations. The document outlines the problem solved, features, interfaces, technologies used and concludes with a demo.
Robotics deals with the study of creating intelligent and efficient robots through electrical engineering, mechanical engineering, and computer science. Robots have mechanical construction to accomplish tasks and electrical components to power and control machinery. They also contain computer programs to determine what, when, and how actions are performed. Robot locomotion includes legged, wheeled, and combinations of both, as well as tracked slip/skid types. Computer vision allows robots to see through image analysis. Robots have various applications in medical, industrial, hazardous, automotive, household, military, construction, and agricultural domains.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This document describes a mobile pick and place robot. It discusses the main components of the robot including arms, end effectors, drive mechanism, controller and base. It also describes the application of the robot in materials handling and industrial uses. The advantages are speed, accuracy, production increases, reliability and flexibility. Future applications discussed include coal mining, military operations, garbage collection and more.
The document describes the design process for a biped robot. It discusses generating concepts using black box modeling, functional modeling, and customer and engineering requirements. Two concepts are described in detail - a two legged wide robot and a thin legged refined robot. Concepts are evaluated using Pugh charts and decision matrices, with the two legged wide robot selected as the top design. A bill of materials and budget are provided. Additional concepts of a humanoid robot and spider legged robot are briefly described in appendices.
Servo Based 5 Axis Robotic Arm Project ReportRobo India
Robo India presents a project report on servo motor based 5 axis robotic arm.
This project is operated through PC software that is made in Visual Basic. AVR family's Atmel Atmega 8 is used in controller board, it runs on Arduino IDE platform.
Detailed mechnical drawings of all of the parts are also given.
We welcome all of your views and queries.
Thanks & Regards
Team Robo India
www.roboindia.com
info@roboindia.com
This thesis presents the design, analysis, and fabrication of a reconfigurable stair climbing robot. The robot uses a novel legged wheel design that allows each wheel to independently orient itself for improved mobility over uneven terrain. Dynamic simulation and finite element analysis were used to analyze step climbing and stresses. The robot was then fabricated and tested, demonstrating its ability to climb stairs of varying heights through independent control of its front and rear wheels.
A hexapod robot is a mechanical vehicle that walks on six legs, providing flexibility in movement. It can continue functioning even if some legs are disabled. The robot relies on an operator, the physical robot, and control software. Hexapod robots have advantages like stability, adaptability to surfaces, and redundancy. Applications include simulators, search and rescue, manufacturing, and antenna positioning. The document provides an overview of hexapod robots, including their workings, advantages, disadvantages, and applications.
The document describes a two-wheeled self-balancing robot project created by three students. It has two modes: balancing mode, where it automatically balances itself, and Bluetooth mode, where it can be controlled remotely via an Android phone. The robot was designed to be affordable and help disabled individuals, and incorporates a gyroscope, sensors, and an Arduino controller. The students faced challenges but created a functional prototype and discuss potential applications and future improvements.
This document summarizes an EE 323 project on vehicle platooning. The project objective was to design a Matlab/Simulink controller to achieve vehicle platooning using a Lego Mindstorms robot brick. The controller was tested through simulation and successfully managed the spacing between vehicles in the platoon. Some difficulties encountered included ensuring controller compatibility with the robot brick. The project demonstrated successful vehicle platooning control and recommended installing the necessary Matlab/Simulink toolbox on all design lab PCs.
1) The document describes the design and implementation of a pick and place robot using a PIC microcontroller, sensors, and DC motors. It includes the mechanical design of the robotic arm and gripper.
2) Simulation results show the robot arm moving in response to signals from the PIC microcontroller to the DC motors. The real-world behavior is then compared to the simulation results.
3) Different robot configurations - including Cartesian, cylindrical, parallel, and SCARA - are evaluated in terms of their advantages and disadvantages for various applications. The document concludes that the articulated robot arm performed pick and place tasks as intended.
International Journal of Computational Engineering Research (IJCER) ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology
This document summarizes the work of Prithvi Sekhar Pagala on designing and evaluating modular robots for maintenance tasks in large scientific facilities. Pagala developed heterogeneous modular robots composed of joint, power/control, and specialized modules to perform tasks like inspection, manipulation and locomotion within single and multiple beamlines. The robots were simulated in Gazebo and controlled using ROS. Pagala also developed a standardized connector, collaborated on tasks like radiation mapping and hot cell operations, and explored approaches like modular robot cooperation, intervention planning and energy management to improve reliability. The work aims to provide flexible and cost-effective robotic solutions for facility maintenance.
IRJET- Review on Hyper Maneuverable Multi-Functional RobotIRJET Journal
This document reviews research on a proposed hyper maneuverable multi-functional robot. It would use mecanum wheels for omni-directional movement and a jointed robotic arm for multiple functions. The arm would be controlled in real-time using sensors on the human arm to detect gestures and movements. The document provides background on mecanum wheels, reviews previous research on related topics, and proposes using accelerometers, gyroscopes and hall-effect sensors on the human arm to control the robot arm.
The document describes a student robotics project to design and test a remote-controlled robot capable of performing tasks required to build a colony on Mars, such as navigating obstacles and picking up building materials. The robot was tested in a mock Martian terrain containing obstacles and items to pick up. While the robot could navigate the terrain and pick up an item, it struggled to accurately drop off the item at the destination. The document discusses improvements that could enhance the robot's ability to complete the required tasks.
The document summarizes 3 research projects conducted by the author:
1. Independent research designing an improved modular robot called 360botG2 with enhanced mobility for exploration tasks. Prototypes were fabricated with 3D printing to reduce costs.
2. Designing a clearing device for a power line maintenance robot to remove hazardous entanglements. The developed device uses heating and blade tools controlled by a lifting mechanism. Experiments demonstrated its effectiveness.
3. As an undergraduate, designing and building a novel self-reconfigurable modular robot called 360bot with independent rotational mobility of each module. Prototypes were tested and a journal paper was published on this first robot design.
Smart Terrain Adaptive Robotic Suspension System (S.T.A.R.S.S)IRJET Journal
This document describes the design of a smart terrain adaptive robotic suspension system (S.T.A.R.S.S.) that aims to maintain a nearly horizontal chassis over various terrains. The suspension uses a modified parallel four-bar linkage mechanism and active control via an IMU, microcontroller, and servo motors. Kinematic and structural analyses were performed on the linkage design in simulation software. A prototype was built and tested on an undulating surface track while monitoring chassis attitude. Multiple tests resulted in code improvements and fulfillment of the objective of stabilizing the chassis.
IRJET - Six Wheel Drive Pick and Place Robot using ArduinoIRJET Journal
This document describes the design of a six wheel drive pick and place robot using Arduino. The robot consists of a six degree of freedom robotic arm mounted on a six wheeled drive chassis. The chassis allows for maneuverability on rough terrain. The arm is controlled by six servo motors to perform picking and placing tasks. An Android app is used to control the robot remotely by sending signals to the Arduino microcontroller via RF. The objectives are to increase the industrial and non-industrial applications of the robot by making it mobile and adding a storage area to perform tasks in bulk. The robot has potential applications in hazardous environments and for heavy lifting in industries. Future work may include adding autonomous capabilities and sensors.
DESIGN OF A DIFFERENTIAL DRIVE MOBILE ROBOT PLATFORM FOR USE IN CONSTRAINED E...ijiert bestjournal
This document summarizes the design of a differential drive mobile robot platform intended for use in constrained environments. The robot is designed with a rectangular frame, two driving wheels in front powered independently by DC motors, and two rear caster wheels for stability. Sensors including infrared and ultrasonic are included for obstacle avoidance. The kinematic analysis of the differential drive system is presented, relating the wheel velocities to the robot's linear and angular velocities. CAD models and specifications of the robot components are provided. The goal of the design is to create a low-cost, versatile platform that can operate in confined spaces like hospitals or warehouses.
This document describes an ETU LOCATION graduation project created by Çiğdem KILIÇ and Seval ÜNVER. The project is an online and mobile system for tracking lecturers at TOBB University. It aims to address the problem of students and lecturers having difficulty finding each other on campus. The system was built using technologies like ASP.NET, C#, Android SDK, and has both a web interface and mobile app. It allows users to view lecturer profiles and locations. The document outlines the problem solved, features, interfaces, technologies used and concludes with a demo.
Robotics deals with the study of creating intelligent and efficient robots through electrical engineering, mechanical engineering, and computer science. Robots have mechanical construction to accomplish tasks and electrical components to power and control machinery. They also contain computer programs to determine what, when, and how actions are performed. Robot locomotion includes legged, wheeled, and combinations of both, as well as tracked slip/skid types. Computer vision allows robots to see through image analysis. Robots have various applications in medical, industrial, hazardous, automotive, household, military, construction, and agricultural domains.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This document describes a mobile pick and place robot. It discusses the main components of the robot including arms, end effectors, drive mechanism, controller and base. It also describes the application of the robot in materials handling and industrial uses. The advantages are speed, accuracy, production increases, reliability and flexibility. Future applications discussed include coal mining, military operations, garbage collection and more.
The document describes the design process for a biped robot. It discusses generating concepts using black box modeling, functional modeling, and customer and engineering requirements. Two concepts are described in detail - a two legged wide robot and a thin legged refined robot. Concepts are evaluated using Pugh charts and decision matrices, with the two legged wide robot selected as the top design. A bill of materials and budget are provided. Additional concepts of a humanoid robot and spider legged robot are briefly described in appendices.
Servo Based 5 Axis Robotic Arm Project ReportRobo India
Robo India presents a project report on servo motor based 5 axis robotic arm.
This project is operated through PC software that is made in Visual Basic. AVR family's Atmel Atmega 8 is used in controller board, it runs on Arduino IDE platform.
Detailed mechnical drawings of all of the parts are also given.
We welcome all of your views and queries.
Thanks & Regards
Team Robo India
www.roboindia.com
info@roboindia.com
1. Rapid Prototyping of mobile robots
for rough terrain using
Evolutionary Strategies
Master Thesis
Abheek Kumar Bose
Master of Science in Autonomous Systems
19th
August 2005
2. 2
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Robot development is a complex blend of ...
.... and its tough!
Science Applied Mathematics Engineering
Its even tougher when we have to develop in limited time!!!
so what can we do to create such complex systems so fast??
3. 3
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Outline
● Problem Statement & Motivation
●
Overview of related work
● Methodology
●
Solution & its analysis
● Experiments & Results
● Conclusion & Future Directions
4. 4
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
● The complexity of robotic systems cause development to be slow and expensive
● Robots are mostly specialized for specific applications
● Industrial manipulators are not expected to perform housekeeping tasks!
●
Robot design does not follow any specific standards
As a result...
● Robots from separate designers/manufacturers are not compatible
●
Maintenance and Service can be provided only by the developers
Why is robot development a difficult problem?
What would happen if railway tracks were different in different countries?
.... our situation with robots is somewhat similar!
5. 5
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
● The term “rough terrain” signifies robots capable of:
● Good mobility performance over outdoor environments
● Carrying heavy payloads
●
Working ideally in real life applications and unpredictable conditions
● Some real-life applications include:
● Rescue robots
●
Exploration robots
● Autonomous transports
Such robots are usually:
● Sophisticated but expensive
● Time consuming to design and develop
● Containing complex mechanisms (suspension / steering) hence difficult to maintain
● Limited in flexibility & expandability to incorporate changes or system expansion
What is the big deal about “rough terrain” robot development?
6. 6
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
● Introduce a development standard
● Aim to reduce design and development time and cost
● Construction kits are a viable approach
● Components are building blocks which foster easy development
● Flexible – various forms can be obtained by differing the component assemblies
● Expandable – clearly defined interfaces makes integration easier
● Versatile – variants of robots can be developed with a handful of parts
However...
● Construction kits have limited robustness
● Developed robots have limitations in their performance and applications
● “Rough Terrain” demands are very high for construction kit approaches
●
Unpredictable conditions push the demands further
How can we make the development better?
The construction kit approach must be assisted!!
7. 7
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
● Why do our hands have 5 fingers that too of unexplainable lengths?
● Why is the thumb placed where it is?
● How many different tasks can we perform with only our hands?
●
Can you strap on your wristwatch without using your thumb?
Evolution tends to specialize... but for a variety of tasks
Evolution is a desirable assistant since:
● The components of the construction kit give evolution a variety of options
● The flexibility of the robot structure allows it to be “fine tuned” by evolution
● The robot morphology can be ideally determined for good performance
● It just sounds cooler!
Why Evolution?
8. 8
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Related Work
The MoRob Project (Gerecke et. al. 2003)
● Construction Kit for mobile robotics
● Focused mainly on education
● Robust system development
● Limited in robot variants
The Shrimp Rover (Estier et. al. 2000)
● Excellent terrain adaptability
● Promising for Planetary Missions
● Low payload capacity
● Limited structural flexibility
The Golem Project (Pollack et. al. 2000)
● Evolution in physical robotics
● Direct evolution of CAD models
● Integrates Rapid Prototyping with Evolution
●
Limited to very basic systems
9. 9
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Previous Work
The VolksBot RT
● Construction Kit for Rough Terrain Robots
● Variants of robots created using same components
● Possible to create both direct and indirect drives
● Drive System can be encapsulated
The Universal Drive Unit
● Core component of the VolksBot RT kit
● Flexibility in assembly over main frame
●
Coupled to any motor using standard couplings
10. 10
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
This thesis asserts that by following a construction kit approach coupled with evolutionary strategies,
it is possible to rapidly develop robust mobile robot prototypes which maintain a high mobility even
in undesirable rough terrain.
Methodology
Approach: Modeling & Design
Phase 1: Analysis and Refactoring of the VolksBot RT components
Phase 2: Robot Platform Modeling and Design
Phase 3: Mobility Enhancement for rough terrain
Approach: Simulation & Evolution
Phase 4: Morphology Analysis
Phase 5: Physical Representation and Simulation
Phase 6: Morphology Optimization by Evolution
11. 11
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Modeling & Design
Refactoring the Universal Drive Unit
Limitations of the old design:
●
Over-dimensioned and heavy
● Limited re-usability due to welding connections
●
Special clamping arrangements demanded assembly skills
Features of the redesigned UDU:
● Lighter components (30% lighter)
●
Easy connection mechanisms via keys and key-ways
● More components are re-usable
● Less assembly skill required
● More variants of the UDU possible
12. 12
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Modeling & Design
A new variant
● Vertical Drive Unit
●
Two types of UDUs used
●
Good ground clearance which can be modified
● Better turning abilities (no skid steering)
● Entire drive unit can be electromagnetically shielded
13. Enhancing the Mobility – The parallel bogey mechanism
● Parallel Bogey: 4 bar link mechanism of parallel bars
●
Construction is inspired by the shrimp rover
●
4 different UDUs differing only in the shaft
● Full drive transmission is encapsulated within the unit
● Allows a very good terrain adaptability for the robot
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Modeling & Design
14. High mobility platforms
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Modeling & Design
Type A
● 4 driven wheels, 1 supporting castor
●
Better turning
●
Better ground clearance
● More compact
Type B
● All 6 wheels are driven
●
More power needed for turning
●
Ground clearance decreases at rear
● More space for objects inside chassis
Both the robots are designed using only the components from the kit
15. ●
Simulation is realised through Open Dynamics Engine*
● Physical parameters can be easily defined
●
Easy integration to the Evolution System
●
Provision for adding intelligent behaviours in future
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Simulation of Type A
Simulation of Type B
* Open Dynamics Engine – Russel Smith (www.ode.org)
Robot Modeling
● Both Type A and Type B are simulated
●
Simulation models are based on CAD structure
● Closely concurrent with the CAD specifications
● Composed of modules
● Module geometries are parameterized
●
Parameters define lengths and positions
16. 16
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Environment Modeling
● Most vital component in the simulation design
● Forms the basis for the evolution
● Needs to represent a worst case scenario
● Must compensate for an unpredictable terrain
● Should prevent robot specialization by evolution
● Should allow evolution to converge to a solution
17. 17
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Environment Description
● Simple blocks are determined as most difficult obstacles for robots to scale
● Environment is composed of different blocks, gaps and a staircase
● Staircase represent urban rescue scenarios
● Scaling stairs demand very good mobility for robots
● Unpredictability is accounted for by randomization of environment
● Block lengths (b), stair lengths (r) and gaps (g1,g2) change randomly
●
Block heights (h) can be changed manually during evolution
● Friction parameters can also be adjusted to make ground more slippery
18. 18
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Basics
● Evolution is used as a tool to improve the robot structure
●
Evolution is implemented by the ISEE Platform1
●
ISEE runs ENS^3 Algorithm2
1
Integrated Structure Evolution Environment (ISEE) – Fraunhofer AIS, Intelligent Dynamics Team (INDY)
2
Evolution of Neural Systems by Stochastic Synthesis (ENS^3) – Hülse et. al. (2004)
19. 19
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Implementation
● Important robot morphology parameters are initially determined
● Each individual is represented by a net
● The net has as many input neurons as the parameters
● The net has one output neuron representing the fitness
● The synapse strengths of this net are the robot parameters
● Evolution works on these nets defining the simulated robot
●
Evaluation is done by driving the robot through the environment
● The fitness is the distance traveled by the robot in a specified time
● Environment is randomized every generation to prevent specialization
● Environment difficulty is low at the beginning
● Block heights are raised very slowly in very small steps
Fitness of the robot is the distance traveled in the environment
20. 20
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution of Type A Robot
● Evolved Parameters:
1.Body Length (Lm)
2.Parallel Bogey Lever Length (l)
3.Parallel Bogey Position (a)
4.Lever Displacement (g)
5.Leg Length (h)
6.Laptop and Battery Position
7.Castor Position (t)
Type A Robot: Before (left) and after (right) evolution
21. 21
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Analysis for Type A Robot
● Non standard fitness path
● Fitness fluctuates due to randomness
● Maintains more or less a constant success:failure ratio even with increasing difficulty
● High successes initially (low difficulty)
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Analysis for Type A Robot
● Parameters are selected considering the best fitness and best age of the individuals
● Parameters 2, 4 and 5 are clustered
● All define the parallel bogey
● Restriction signifies importance
23. 23
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution of Type B Robot
● Parallel Bogey dimensions remain from Type A
● Compact
● Good Climbing abilities for Type A
● Evolved Parameters:
1.Body Length (Lm)
2.Parallel Bogey Position (a)
3.Lever Displacement (g)
4.Laptop Position
5.Battery Position
Type B Robot: Before (left) and after (right) evolution
24. 24
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Analysis for Type B Robot
● Higher success rates than Type A
● Overall fitness is higher
25. 25
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Evolution Analysis for Type B Robot
● Parameters are selected considering the best fitness and best age of the individuals
● Parameter 3 is clustered
● Represents a restriction on
the lever displacement
26. 26
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Solution: Simulation & Evolution
Performance Evaluation 1 -->
●
Running evolved the robots in environment
●
Randomization is removed
●
Environment difficulty increases every test cycle
●
All possible environments are tried out
<-- Performance Evaluation 2
●
Tests for performance in uncertain conditions
●
Test ground square random step field
●
Square blocks of random heights are generated
● Consequent generated gaps can trap wheels
● This environment was never present during evolution
27. 27
Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Experiments: Rapid Prototyping
The “People Mover Project”
● Based on the 3 wheeled variant of the VolksBot RT
● Intelligent Vehicle Demonstrator
● Total Assembly time of approx. 7 hrs
●
Software development with reusable codes
● Fully functioning software in approx. 2 hrs
● Presented in the German Open in Paderborn, 2005
The VolksBot eXtreme Terrain
● Developed directly from the Type B robot model
● Component assembly by direct application of
the evolved parameters
● Full construction in approx. 27 hours
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Experiments: Performance Demonstration
The VolksBot eXtreme Terrain
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
Conclusion & Future Directions
Contributions
● A standard for robot development
● A construction kit for real world robotics
● Evolution as a viable tool for optimization
Lessons Learned
● Standardized components impel rapid prototyping
● Concurrency between simulation and modeling is vital
● Evaluation technique is critical aspect for evolution
Future Directions
● More versatile components for the construction kit
● Analysis and optimization with payloads
● Rough Terrain Autonomy
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Master of Science in Autonomous Systems
Rapid Prototyping of mobile robots for rough terrain using Evolutionary Strategies
THANK YOU
(for staying awake all along!)