3. Wiring Diagram
The overall wiring diagram will resemble this structure. The power board will be extremely similar to that of TigerBot #3. The difference lies in that our power board will not have the current sensing to each limb but a totally separate board. The servos, microcontrollers, sensors, and will still be powered from this board but in a slightly different configuration. The design for this board can be seen below. The foot sensor boards are also going to be used from Tigerbot #3.

4. Power Board Schematic

5. Current Sensing

6. Foot Sensor Board Schematics

7. Foot Sensor Board Schematics

8. Foot Sensor Board Schematics

9. Foot Sensor Board Schematics

10. Foot Sensor Board Schematics

11. Servo Information
This software allows a full simulation of motion. Motion files can be created to re-enact movements of the robot. Some examples include the “Low crouch”, “Leg Lift”, and “Pick Itself Up”. The majority of the initial simulations are for mechanical qualifications and will be covered in the Mechanical/Industrial engineering portion of the design review. However, the next step in this process is to implement Inverse Kinematics to develop a walking algorithm that also supports the mechanical design parameters. Below is the extensive characterization conducted on the servos, done by Alexander Yevstifeev last quarter.

12. Servo Information

13. Servo Information

14. Servo Information

15. Servo Information

16. Servo Information

17. Software Flow Charts

18. Inverse Kinematics Leg Diagram

19. Locomotion.c /** *Controls the robots locomotion
*with more functions added depending on the task
**/
#include "Locomotoin.h"
void walk(){ }
void stand(){
void balance(){

20. Locomotion.h #ifndef LOCOMOTION_H #define LOCOMOTION_H void walk();
void walk();
void stand();
void balance();

21. RobotStatus.c /** * Checks the robots status to begin movements
* different types of check depending on the situation
**/
#include "RobotStatus.h"
int checkBalance(){
return 0; }
int frontClear(){
int currentServoPosition(int Servo){

22. RobotStatus.h #ifndef ROBOT_STATUS_H #define ROBOT_STATUS_H
int checkBalance();
int frontClear();
int currentServoPosition(int Servo);

23. Sensors.c
/** * Class to return data from all the sensors **/ #include sensors.h int check_IR( int IRnumber ){ int value = 0; switch(IRNumber){ case 0: break; case 1: case 2: case 3: case 4: case 5: case 6: default: } return value; int check_IMU(void){ return 0;

24. Sensors.h #ifndef SENSOR_H #define SENSOR_H
int check_IR( int IRnumber );
int check_IMU(void);

25. ServoControl.c
/**
*Control the servos, can be added to locomotion maybe depending
*on what else might be needed in this class.
**/
#include "ServoControl.h"
void setServo( int ServoNumber, int position ){
switch(ServoNumber){
case 0:
break;
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
default: }

26. ServoControl.h #ifndef SERVO_CONTROL_H #define SERVO_CONTROL_H
void setServo( int ServoNumber, int position );

27. Compile Script #!/bin/bash rm ServoTestCode;
rm ServoTestCode;
g++ -static -I /home/roboard/RobotCode/RoBoIO/libsrc/ -c ServoTestCode.cpp -o ServoTestCode.o
g++ -o ServoTestCode ServoTestCode.o -static -L /home/roboard/RobotCode/RoBoIO -l RBIO
./ServoTestCode;

28. Servo Test Code #include <stdio.h> #include "roboard.h"
#include "rcservo.h"
#include <unistd.h>
int main(void){
roboio_SetRBVer(RB_100RD);
unsigned long motion_frame[2] = {0,0};
if(rcservo_SetServo( RCSERVO_PINS1, RCSERVO_SERVO_DEFAULT_NOFB )){
puts("Servo 1 set correctly"); }
if(rcservo_SetServo( RCSERVO_PINS2, RCSERVO_SERVO_DEFAULT_NOFB )){
puts("Servo 2 set correctly");
while(1){
if(rcservo_Init(RCSERVO_USEPINS1 + RCSERVO_USEPINS2)){
puts("Victory");
rcservo_EnterPlayMode_HOME(motion_frame);
rcservo_MoveTo( motion_frame, 500 );
if(motion_frame[0] == 0){
motion_frame[0] = 1500;
motion_frame[1] = 1500;
}else{
motion_frame[0] = 0;
motion_frame[1] = 0;
rcservo_Close();
puts("Could not init Servo");
puts(roboio_GetErrMsg());
sleep(1);
return 0;

29. Example Inverse Kinematics Code
%Inverse Kinematics Function. Computes 6 output angles given foot position
%and orientation.
%written by Alexander Yevstifeev
%Based on work in the paper Closed-form Inverse Kinematic Joint Solution for Humanoid Robots by Muhammad
A. Ali, Andy Park, and C.S. George Lee.
function [T] = Leg_Inv_Kin(rx,ry,rz,p)
%outputs joint angles for T(1)-T(6) of a humanoid leg given the x,y,z axis
%rx ry rz are rotation angles for orientation and a position vector.
%order of angle joints from T(1) to T(6) are leg twist, leg side, leg lift, knee, foot lift, and foot tilt.
%Link length definitions
L5 = 0.05 ; % Link between ankle and bottom of foot
L4 = 0.25 ; % Link between knee and ankle
L3 = 0.25 ; % Link between hip and knee
%compute rotation matrix given rotation angles rx, ry, and rz
Cx = cos(rx) ;
Sx = sin(rx) ;
Cy = cos(ry) ;
Sy = sin(ry) ;
Cz = cos(rz) ;
Sz = sin(rz) ;
Rmat = [ Cy*Cz , -Cx*Sz+Sx*Sy*Cz , Sx*Sz+Cx*Sy*Cz ; ...
Cy*Sz , Cx*Cz+Sx*Sy*Sz ,-Sx*Cz+Cx*Sy*Sz ; ...
-Sy , Sx*Cy , Cx*Cy ; ] ;

30. Example Inverse Kinematics Code
%build location matrix, find inverse, assign inverse vectors
M = cat(2, Rmat , p') ;
M = cat(1,M,[ ]) ;
Mi = inv(M) ;
s = 1:3 ;
ni = Mi(s,1)' ;
si = Mi(s,2)' ;
ai = Mi(s,3)' ;
pi = Mi(s,4)' ;
C4 = ( (pi(1)+L5)^2 + pi(2)^2 + pi(3)^2 - L3^2 - L4^2 ) / (2 * L3 * L4 ) ;
T(4) = atan2(sqrt(1 - C4^2),C4) ;
S4 = sin(T(4)) ;
psi = atan2( S4 * L3 , ( C4 * L3 ) + L4 ) ;
T(5) = atan2( -pi(3) , sqrt( (pi(1) + L5)^2 + pi(2)^2 ) ) - psi ;
C5 = cos(T(5)) ;
T(6) = atan2(pi(2) , -pi(1) - L5 );
if (cos(T(4)+T(5))*L3 + C5*L4) < 0
T(6) = T(6) + pi ;
end
S6 = sin(T(6)) ;
C6 = cos(T(6)) ;
T(2) = atan2( -S6*si(1) - C6*si(2) , -S6*ni(1) - C6*ni(2) ) ;
T(1) = atan2( sqrt(1 - (S6*ai(1) + C6*ai(2))^2) , S6*ai(1) + C6*ai(2));
if sin(T(2)) < 0
T(1) = T(1) ;
T(3) = atan2(ai(3) , C6*ai(1) - S6*ai(2) ) - T(4) - T(5) ;
%Adjustment for reference frames on model
T(1) = -(T(1) );
T(2) = -(T(2) ) ;
T(3) = T(3) ;
T(6) = -T(6) ;
%correction for position value over 2*pi
for i = 1:6 ;
T(i) = rem(T(i),6.283) ;

31. analogRead() (arduino function)
Reads the value from the specified analog pin. The Arduino board contains a 6 channel (8 channels on the Mini and Nano, 16 on the Mega), 10-bit analog to digital converter. This means that it will map input voltages between 0 and 5 volts into integer values between 0 and This yields a resolution between readings of: 5 volts / 1024 units or, volts (4.9 mV) per unit. The input range and resolution can be changed using analogReference().
It takes about 100 microseconds ( s) to read an analog input, so the maximum reading rate is about 10,000 times a second.

32. Preliminary Test Plan Function to Test Expected Result
Send commands to move each elbow servo
Servo moves to desired position, does not extend too far
Send commands to move each shoulder servo
Servos move to desired positions, three degrees of freedom are observed
Send command to move center hip servo
Robot turns left or right appropriately
Send commands to move each non-center hip servo
Send command to move each knee servo
Send commands to move each foot servo
Servos move to desired positions, two degrees of freedom observed
Place object within one foot of IR sensors
Robot will stop moving, alter course of direction
Intentionally (or accidentally) knock robot over
IMU will detect that the robot has fallen, begin procedure to pick itself up
Begin walking the robot
Foot sensors will detect pressures from each area of the foot, adjust walking scheme accordingly

33. CE/EE Planning Schedules

34. Current Bill of Materials
Budget
2500
Orders
Date
Ordered By
Description
Amount
Budget remaining
1/21/2012
Ken EE Dept.
Voice Recog, IR Sensors, Camera, RoBoard RB-100
391.93
1/25/2013
Sr. Design Dept.
10 XQ Servos
1070
RoBoard IMU 89
949.07
1/28/2013
Mechanical test components
60.86
888.21
TBD
Mechanical components
457.67
430.54
Left to order
Wireless module for Roboard (about $50.00)
Roboard Servos (10, possible discount?)

35. Risk Assessment