1. Roo Autonomous 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. Code 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

10. The End Roo –Autonomous Hopping Robot