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Making Simple Robots Simpler to Make by Making Them Simpler

This article discusses the simplification of robot-making process by making robots simpler in terms of power, mass, and cost. It covers topics such as microcontrollers, PWM control, radio communication, and methodology. The motivation behind this approach is to achieve more efficient and cost-effective robot designs. The article includes relevant images and references for further understanding.

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Making Simple Robots Simpler to Make by Making Them Simpler

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  1. Making Simple Robots Simpler to Make by Making Them Simpler Matthew Piccoli and Mark Yim 4/28/2014

  2. ROSLab ROS NODE (e.g., Quad_joy) Current work: ROSLab/microcontrollers TRPY LL-SW CONTROLLER TRPY POSE ESTIMATE PWM PWM PWM PWM Accel/AngVel M2 M1 M3 M4 RADIO μC Slide from Nicola Bezzo and Insup Lee IMU HW

  3. Library Methodology Microcontroller Supply or demand Supply Demand Radio SPI,+ SPI,- + = Bus - = one to one Blank = doesn’t care 3.3V 3.3V USB,- Regulator Micro USB Plug 3.3V,+ USB,- 5V 5V,+

  4. Library Methodology Slide from Nicola Bezzo, Peter Gebhard, and Insup Lee

  5. Motivation: Schaft Schaft: Google

  6. Motivation: vs RHex Rhex: Kodlab, University of Pennsylvania

  7. So…Schaft Isn’t Awesome? • Quite the opposite: Schaft is TOO awesome • *when all you want to do is move over grass • Sometimes simpler is better • If remove sensors, actuators, computation • Get lower power, mass, and cost • Less is more!

  8. Some simplifying tricks we use http://isites.harvard.edu/fs/docs/icb.topic867444.files/images/flotation2.png http://isites.harvard.edu/fs/docs/icb.topic867444.files/images/flotation.png http://history.nasa.gov/SP-367/f139.htm http://www.ece.uvic.ca/~elec499/2005b/group20/software/tri_gait.jpg http://www.modelairplane.cadblog.net/helicopter_stability_control.htm

  9. Stability for Non-Flapping Helicopters If movement in x want +pitch in y L M X Y Big moments = GOOD Angular Momentum = BAD N Z Big moments = BAD Angular Momentum = GOOD http://fsaircraft.net/kaman/hh_43_huskie http://www.aircraftcompare.com/helicopter-airplane/UH-1Y-Venom/199

  10. Stability for Non-Flapping Helicopters If movement in x want +pitch in y COP > COM L M X Y Big moments = GOOD Angular Momentum = BAD N Differential Lift Z Big moments = BAD Angular Momentum = GOOD http://fsaircraft.net/kaman/hh_43_huskie http://www.aircraftcompare.com/helicopter-airplane/UH-1Y-Venom/199

  11. Types of Vehicles Angular Momentum No Angular Momentum COP > COM Iz > Ixy && Body more ang. mom. makes diff lift Ixy > Iz && Body less ang. mom. makes diff lift

  12. Types of Vehicles Angular Momentum No Angular Momentum COP > COM Iz > Ixy && Body more ang. mom. makes diff lift Ixy > Iz && Body less ang. mom. makes diff lift

  13. Types of Vehicles Angular Momentum No Angular Momentum COP > COM Iz > Ixy && Body more ang. mom. makes diff lift Ixy > Iz && Body less ang. mom. makes diff lift Z. E. Teoh, S. B. Fuller, P. Chirarattananon, N. Prez-Arancibia, J. D. Greenberg, and R. J. Wood, “A hovering flapping-wing microrobot with altitude control and passive upright stability,” in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE, 2012, pp. 3209–3216.

  14. Questions?

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