SIRIUS - A Wheel-Leg Transfigurable Robot

Video

Presentation

System Design

The following picture describe the system design of the robot:

The following picture describes the control inputs to the robot:

Circuitry

All schematics for embedded sub-systems are opened with 'Proteus' software

File: powerSirius.pdsprj: Proteus files for schematics

Schematic contents:

1. Servo power system (Left)
2. Robokits 16-Servo Motor Controller (Right Top)
3. Communication System for Dynamixel (Right Bottom)

File Explorer

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