P17201: TigerBot VII: The Force Awakens
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Problem Definition

Table of Contents

Team Vision for Problem Definition Phase

Summarize:

What did your team plan to do during this phase? This phase was intended to baseline the mechanical and electrical progress made on TigerBot 6 and define the scope of TigerBot 7 to meet revised customer goals.

What did your team actually accomplish during this phase? This phase completed by presenting key research findings and suggestions for TigerBot 7 to define our project definition to Dr. Sahin and Professor Slack.

Project Summary

TigerBot is a humanoid robot project with the long term goal of creating an untethered and autonomous bipedal robot system capable of giving tours of the RIT campus. The primary goal of this phase is to continue the work towards the more immediate goal of a full scale humanoid robot capable of balancing and walking.

A number of previous TigerBot models exist. The latest of these is the lower half of a bipedal system. Phase VII of the project will begin with determining the feasibility of continuing with the current system. If the current system is determined to be adequate, key system improvements will be identified and made. An upper body will be designed and integrated into the system. If the current system is inadequate, key designs and components will be salvaged. A new lower body system will be designed and implemented. The main goals will be: to create a modular system which is robust to future improvements, an electrical system capable of providing the I/O to support contemporary bipedal control algorithms and to achieve balancing and walking.

Use Cases

TigerBot VII use cases encompass the immediate and most probable uses for TiberBot. This phase of the project will focus on TigerBot's use as a demonstration by the customer to current and prospective students as well a demonstration by the team to Imagine RIT spectators. Future use as a research platform is a case to be explored and developed as the planning phase progresses.

Customer Demo to Students

Use Case senario: Demo to Students

Use Case senario: Demo to Students

Team Demo to Imagine RIT Spectators

Use Case senario: MSD demo to Imagine RIT spectators

Use Case senario: MSD demo to Imagine RIT spectators

Project Goals and Key Deliverables

Project Goals

The main goal of the 7th phase of TigerBot is to create a full scale humanoid robot that has a turn-key operation mode for demonstration as well as a robust design focused on improving TigerBot VI and enhancing testing capabilities.

Deliverables

Customer Requirements (Needs) & Constraints

Customer Requirements

Customer Requirements



Engineering Requirements (Metrics & Specifications)

Engineering Requirements

Engineering Requirements

Benchmarking

A great deal of research into the kinematic and mechatronic design of humanoid bipedal walking systems was performed by P17201 in order to adequately evaluate and benchmark the state of the TigerBot VI (TB6) Platform. Scholarly papers regarding humanoid projects such as Asimo, Johnnie, Wabian and Lola were relied on heavily to understand the progression of- and advancements in biped technology. The following Benchmarking Parameters are a number of core concepts of humanoid design consistent across P17201’s research.

Benchmarking

Benchmarking

House of Quality

House of Quality

House of Quality

Risk Assessment

Risk Register

Risk Register

Plans for Next Phase

Gantt Chart (v1.0) through early November

Gantt Chart (v1.0) through early November


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