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Roo Autonomous Hopping Robot

Roo Autonomous Hopping Robot. Intelligent Machines Design Lab EEL 5666 Aaron Suedmeyer. Beginning Idea. Pogo stick with balancing. First Evolution. 2 legged hopper Test platform No balancing No foot No direction. First Evolution - Problems. Could not implement directional changes

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Roo Autonomous Hopping Robot

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  1. RooAutonomous Hopping Robot Intelligent Machines Design Lab EEL 5666 Aaron Suedmeyer

  2. Beginning Idea • Pogo stick with balancing

  3. First Evolution • 2 legged hopper • Test platform • No balancing • No foot • No direction

  4. First Evolution - Problems • Could not implement directional changes • Could not get gyros to work • Could not use tilt method

  5. Second Evolution • 2 legged hopper • Legs closer together • 1 round foot • No balancing • Leaned at 15º angle • Implemented direction changes

  6. Third Evolution • 2 legged hopper • 1 foot with skis • No balancing • Implemented direction changes • Leans at 10º angle • Behaviors • IR following

  7. Sensors • 2 IR detectors • IR following • 1 micro switch • Locking • Accelerometer • Sensor to indicate pitch of robot • Not implemented

  8. Integrated System • TJ Pro board • 2 servos (200 ounce/inch) • Stretching rubber bands • 2 servos (40 ounce/inch) • Locking • Changing direction

  9. Main() Sets servo defaults Sets IR offsets Starts processes ActionServos() Sets servo degrees based on sensors ReadSensors() reads sensor data Routine() Timing for jump Runs search() Search() Finds IR Runs spinDirection() SpinDirection() search pattern Code

  10. The End • Roo • Autonomous Hopping Robot

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