1. Edubot Software The Edubot software is divided into self-contained modules and organized by functionality. The hardware carrier unit allows communication between the Edubot and peripheral devices through the RiSEBus. The handler module controls the timing of the Edubot’s actions. The hardware object creates an interface for the accelerometer sensor suite and the “Apps” file contains instructions for the desired behaviors. Edubot Software The Edubot software is divided into self-contained modules and organized by functionality. The hardware carrier unit allows communication between the Edubot and peripheral devices through the RiSEBus. The handler module controls the timing of the Edubot’s actions. The hardware object creates an interface for the accelerometer sensor suite and the “Apps” file contains instructions for the desired behaviors. Module Hardware/Firmware Each hardware unit consists of an accelerometer and a microprocessor. The accelerometer measures the forces acting on it over its three Cartesian axes. The accelerometer produces a continuous analog voltage signal in which the output voltage is proportional to the experienced acceleration. The signals corresponding to x, y, and z forces are input to the microcontroller. At this point they are converted to digital values. The microcontroller packages this information to be transmitted to the Edubot computer via the RiSEBus. Module Hardware/Firmware Each hardware unit consists of an accelerometer and a microprocessor. The accelerometer measures the forces acting on it over its three Cartesian axes. The accelerometer produces a continuous analog voltage signal in which the output voltage is proportional to the experienced acceleration. The signals corresponding to x, y, and z forces are input to the microcontroller. At this point they are converted to digital values. The microcontroller packages this information to be transmitted to the Edubot computer via the RiSEBus. Edubot Accelerometer Suite Edubot Channel Maneuver Using static acceleration knowledge, the Edubot acts as an inclinometer and maneuvers through this channel autonomously. It achieves this by attempting to return the x and y components of acceleration to a value of zero. Abstract Researchers in legged robotic applications increasingly desire real time body pose knowledge about the robots they program. Body pose knowledge enables more efficient and extensive repertoires of behavior. A variety of methods have been developed for rigid body pose estimation, yet none are suited to legged machines such as the educational robot Edubot. The implemented approach is a method of extracting body pose information from multiple acceleration readings. One accelerometer measuring acceleration in 3 degrees of freedom (DOF) enables static body pose estimation. With this information the Edubot is able to autonomously maneuver through a channel with inclined walls. Additional software using the developed accelerometer suite can yield dynamic body pose estimation. Group 8 Authors Elisa Downey-Zayas EE ‘08 Hal Paver EE ‘08 Advisors Dr. Haldun Komsuoglu Demo Times Thursday, April 24, 2008 10:30, 11:00, 11:30 AM 1:30, 2:30 PM University of Pennsylvania Moore School of Electrical and Systems Engineering Kod*lab