Independent Study for Biobots, A Continuation - Revision history

Mgrauer: /* Simulation Videos */

2007-03-21T20:23:43Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:21:57Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:20:48Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:19:38Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:19:03Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:18:27Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:17:45Z

Simulation Videos

Mgrauer: /* Simulation Videos */

2007-03-21T20:16:11Z

Simulation Videos

Megant: /* Conclusions */

2007-03-20T03:26:12Z

Conclusions

Megant: /* Week 2 */

2007-03-19T21:00:13Z

Week 2

@@ Line 147: / Line 147: @@
 stair that the robot is climbing.
-Tumbler 30degreelink.avi
+[[Media:Tumbler 30degreelink.avi]]
 Another idea we had was to replace the rear triskelions with a large wheel, but the problem with this design is that the tumbling front part could get up the
 first stair but the wheels were stuck below.  We tried shrinking the size of the donut tires but that didn't help.
-Trifront bigdonutback.avi
+[[Media:Trifront bigdonutback.avi]]
 We then went back to the idea of four triskelions, two on the front and two on the back, but rather than having single bars as the contact points,
@@ Line 162: / Line 160: @@
 the best success when both of the body segments were the same weight.
-Bitridonut frontheavier.avi
+[[Media:Bitridonuts_frontlighter.avi]]
-bitridonuts_frontlighter.avi
-Bitridonuts_frontlighter.avi
-bitridonut_frontheavier.avi
 This was our final virtual model design, as mentioned above this model has 4 triskelion segments with donut shaped fixed wheels attached to each leg.
@@ Line 172: / Line 170: @@
 or decent leverage.  What isn't clear is whether we could actually build an NXT lego robot of this design as we ran out of time in the course.
-bitridonuts.avi
+[[Media:Bitridonuts.avi]]
 ===Conclusions===

@@ Line 154: / Line 154: @@
 Trifront bigdonutback.avi
 trifront_bigdonutback.avi
 We then went back to the idea of four triskelions, two on the front and two on the back, but rather than having single bars as the contact points,

@@ Line 163: / Line 163: @@
 Bitridonut frontheavier.avi
 bitridonuts_frontlighter.avi
+Bitridonuts_frontlighter.avi
 bitridonut_frontheavier.avi

← Older revision		Revision as of 20:19, 21 March 2007
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	the best success when both of the body segments were the same weight.		the best success when both of the body segments were the same weight.

		+
		+	Bitridonut frontheavier.avi
	bitridonuts_frontlighter.avi		bitridonuts_frontlighter.avi

← Older revision		Revision as of 20:19, 21 March 2007
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	first stair but the wheels were stuck below. We tried shrinking the size of the donut tires but that didn't help.		first stair but the wheels were stuck below. We tried shrinking the size of the donut tires but that didn't help.

		+	Trifront bigdonutback.avi
	trifront_bigdonutback.avi		trifront_bigdonutback.avi

@@ Line 141: / Line 141: @@
 stable as the link bars get hung up on the stair the same as the large boxy body did.
-tumbler-straightlinks.avi
+[[Media:Tumbler-straightlinks.avi]]
 Next we took the link bars and changed them so that they were coming out of the boxy body segments at a 30 degree angle and then were fixed together.  This robot

@@ Line 130: / Line 130: @@
 ===Simulation Videos===
-Virtual Model
 [[Media:Tumbler_fallsbackwards.avi]]
 ===Conclusions===

@@ Line 134: / Line 134: @@
 ===Conclusions===
-Climbing stairs is a more complex and interesting task than it may initially seem.  After working on creating a walking biobot in the fall quarter and a stair climber this winter we have all learned that these natural everyday tasks have a lot of smaller subtasks that can be hard to model.  We spent more than half of our time on this project working on a robot that used a tumbling motion to concur the stairs.  Even though our initial virtual and physical models showed little promise we continued to make modifications to this design in hopes of succeeded.  The design had been successfully implemented with different materials and we thought that we would be able to mimic that with the legos.  We tried changing the position of the weight, position and size of the wheels, length of the "legs" and body; unfortunately we never made it up a Bossone Lobby stair.
+Climbing stairs is a more complex and interesting task than it may initially seem.  After working on creating a walking biobot in the fall quarter and a stair climber this winter we have all learned that these natural everyday tasks have a lot of smaller subtasks that can be hard to model.  We spent more than half of our time on this project working on a robot that used a tumbling motion to conquer the stairs.  Even though our initial virtual and physical models showed little promise we continued to make modifications to this design in hopes of succeeded.  The design had been successfully implemented with different materials and we thought that we would be able to mimic that with the legos.  We tried changing the position of the weight, position and size of the wheels, length of the "legs" and body; unfortunately we never made it up a Bossone Lobby stair.
 In the end via virtual models we learned that the design could work, but we needed a way to distribute the weight of the biobot or add more torque to the motors.

@@ Line 38: / Line 38: @@
 ====Week 2====
-We got the robot kits in this week and started playing with the parts.  We each built our own prototype and discussed possible tasks we would want the robot to perform.  We decided to build a robot that would be capable of climbing the stairs in the Bossone Lobby.  We hope to achieve the climbing motion early on and then add intelligence to the biobot so that it can predict when it is approaching stairs and determine whether the height of the stairs is too great for it to climb.
+We got the robot kits in this week and started playing with the parts.  We each built our own prototype and discussed possible tasks we would want the robot to perform.
-−
 [[Image:Prototype.jpg|center|thumb]]
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