##System Design
The following picture describe the system design of the robot:
The following picture describes the control inputs to the robot:
All schematics for embedded sub-systems are opened with 'Proteus' software
File: powerSirius.pdsprj: Proteus files for schematics
Schematic contents:
- Servo power system (Left)
- Robokits 16-Servo Motor Controller (Right Top)
- Communication System for Dynamixel (Right Bottom)
Controller: AtMEGA2560 Board used: AtMEGA2560 Development Board
###AVR
- Gait_Testing.c: File for testing gaits and debugging
- USART.c: Functions for serial communication
- usart.h: Header for USART.c
- config.c: Contains configurations for all gaits
- config.h: Header for config.c
- dynamixel.h dynamixel.c: Files for running Dynamixels
- lcd.h lcd.c: Files for showing output on LCD (connected at PORTD)
- main.h: For running main process (different gaits)
- motion.h motion.c: Files for motion of legs
- roboservo.h roboservo.c: File for running servo motors
###Gaits
- backspider: Spider gait backwards
- home: Home orientations
- littledog_gait: Dog gait
- little_gait_quasi: Quasi dog gait
- roll_gait: Wheel gait
- rotation_gait: Rotation
- spiderwalk: Spider gait
###MATLAB
-
matlab_camera: ** camera.m: Gets camera feed ** imageConvert.py: Convert binary format image to jpeg ** image_raw.txt: Raw image text file through camera ** out_image.jpg: Output image ** rawtoimage.m: MATLAB function to convert binary to image jpg
-
matlab_inverse_kinematics:
- acceptable_angles.txt: Text File to store acceptable angles after Gait Generation
- angle_conversion_even.m: Convert Angles according to contraints for even angles
- angle_conversion_odd: Convert Angles according to contraints for even angles
- gait.m: File to calculate possible gaits
- inversekinematics.m: Solves inverse kinematic equations
- packet_angles.txt: Stores the angles to be sent as packet via serial
- packet_generation.m: Generates packet format text file to be sent
###Serial_Testing C++ Code for sending angles via serial communication.
- main.cpp: main process
- serial.h serial.cpp: Serial Implementation
##Mechanical Design All Solidworks Parts are uploaded.
##References
[1] Kenjiro TADAKUMA(Osaka Univ.) et. al, Mechanical Design of the Wheel-Leg Hybrid Mobile Robot to Realize a Large Wheel Diameter. IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010
[2] Carlos Queiroz, Nuno Gon ?calves and Paulo Menezes, A study on Static Gaits for a Four Leg Robot, CONTROL 2000, International Conference on, At Cambridge, UK
[3] Nils Brynedal Ignell,Niclas Rasmusson and Johan Matsson, An overview of legged and wheeled robotic locomotion. IRCSE ’12. IDT Mini-conference on Interesting Results in Computer Science and Engineering, Sweden, 2012
[4] Raibert, M. H. Legged Robots Communications of the ACM 499, June 1986 Volume 29 Number 6 http://www.universelle-automation.de/1980 Boston.pdf
[5] Buckley D. 2011 http://davidbuckley.net/DB/HistoryMakers.htm
[6] Arikawa, K., Hirose, S., 2007 Mechanical design of walking machines Philosophical Transactions of the Royal Society A 365
[7] Heikkil,M.,Pietikinen,M.andSchmid,C.(2009),DescriptionofInter- est Regions with Local Binary Patterns. Pattern Recognition 42(3):425-436.
[8] Christian Weiss,Nikolas Fechner,Matthias Stark and Andreas Zell,Comparison of Different Approaches to Vibration-based Terrain Clas- sification, ECMR07
##Team
- Captains
- Aditya Tiwari
- Diwakar Paliwal
- Vinay Varma
- Sai Prasad Arkal
- Rest
- Keshav Sarraf
- Soumyadeep Mukherjee
- Rishal Raj
- Vishnu Sharma
- Aman Gupta
- Nipurn Gulgulia
- Raushan Kumar
- Kawaljeet Kumar
- Divya Prakash
- Seemant Jay
- Rahul Singh
- Kumar Abhinav