Table of Contents
Team Vision for Problem Definition PhaseSummarize:
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 SummaryTigerBot 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 CasesTigerBot 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
Team Demo to Imagine RIT Spectators
Project Goals and Key Deliverables
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.
- An in depth design review of the TigerBot VI design will be delivered by the end of the project planning phase.
- An in depth electrical, mechanical and software design based on the findings of the design review will be delivered by the end of Multidisciplinary Senior Design 1.
- A platform that is ready for extensive testing will be delivered by the 8th week of MSD2.
- A product with a simple demonstration mode as well as an infrastructure robust to future improvements will be delivered by the end of MSD2.
Customer Requirements (Needs) & Constraints
- Design such that the center of gravity is in the hips
- Low center of gravity makes it much easier to balance robot
- Motors, servos, gearboxes, and actuators must exist
on the market
- Custom mechanical drivers would add unnecessary complexity
- Preference is to utilize components already purchased
- Master controller must be an onboard computer with
embedded OS, C/C++ compiler
- Single point of control allows for easier reprogramming
- Limbs must be wired with accelerometer and gyroscope
- Sensor feedback enables reactive movement for balance correction
- Foot design must be able to incorporate 4 Force
- FSRs allow for increased stability feedback to control system