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Problem Definition

Table of Contents 1 Project Summary 2 Project Goals and Key Deliverables 3 Stakeholders 4 Customer Requirements (Needs) 5 Engineering Requirements (Metrics & Specifications) 6 Constraints 7 Presentation

Project Summary

This senior design project is the fifth project of the series of projects planned, called TIGERBOT, for developing humanoid robots at RIT. The ultimate goal of the project series is to develop a robotic tour guide for RIT that could be used to recruit prospective students through demonstration. Two humanoids were designed in 2012.The second humanoid was able to stand by itself, respond to voice, and balance itself. In 2013, two more TigerBot were designed. The final and fourth TigerBot was successful in walking and standing normally and respond to voice pretty well with various motion response to commands.

The goal of this project team is to take the TigerBot design to the next level—a full scale platform that will control the locomotion of the TigerBot while providing the base for future components, sensors or aspects of intelligence. The full scale platform must be autonomous, untethered, and able to walk straight and turn, avoid obstacles, and recover from a forward or backward fall. Since this is a platform robot, this senior design team will focus on the emphasis on the locomotion piece.

TIGERBOT 1

TIGERBOT 2

TIGERBOT 4

Project Goals and Key Deliverables

• Working Prototype
  • A walking, turning and balancing humanoid
• Autonomous
• Resistant to fall
• Able to get up from any fall
• Some human interaction via voice

Stakeholders

• Dr.Sahin
• Visitors to RIT
• MSD Team
• RIT

Customer Requirements (Needs)

Customer Requirements

1st Customer Interview 9/2/14

Engineering Requirements (Metrics & Specifications)

System-level and function-level requirements that define the intended performance of your system. Are your engineering requirements measurable and testable? Can they all be traced back to customer requirements?

Engineering Requirements

House of Quality

Constraints

• Center of Gravity needs to be lower than the waist
• Components must be available on the market.
• Micro controller which will handle the motion control of the robot needs to be a small factor computer with minimal requirements of:
  • 32 bits
  • >2G Bytes
  • Embedded OS ( Linux Ros)
  • Multiple Interfaces:I2C, SPI, USB
• Internal Sensors required
  • Accelerometers
    • This is for detecting external forces such that the robot resists falling
  • Gyroscopes
    • This is for detecting falls and primitive posture detection.

Presentation

Problem Definition Presentation

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