Biped 2016 Fall – Final Documentation
Introduction Project Overview
Project Objective
Team Biped will produce a two legged 6th generation toy biped robot that will replace the traditionally used servos with a dc motor and achieve static walking. By utilizing the 3Dot Board, the robot will participate in the end of semester, December 14th, 2016, game called: Save the Human.
Mission Profile
Biped shall compete, alongside other toys such as Goliath and Velociraptors, in an end of semester approximately hour long game: Save The Human. Biped should successfully walk, using Goliath’s live video feed as the field of view, from the opposite end of the room to the finish area without coming into contact with a Velociraptor. The Biped will maneuver through multiple obstacles by turning through walls, sensing color pads, and stepping through uneven terrain placed on top of Linoleum floors.
Project Features
A key component of our design is replacing the ankles with servos. The ankle servo eliminates having to use two dc motors to accomplish a pivot turn. The placement of the servos provides a strategic way to balance on on foot and then turn the entire body to face the desired direction.
Requirements
System Block Diagram
Interface Definition
Interface Matrix and Cable Tree
Mission Command and Control
Software Design
Arxterra App Communication
Custom Commands
Electronics Design
Component Selection and Trade Off Studies
Electronic Experiments
Firmware
PCB Schematics
PCB Layout
Hardware Design
Hardware Experiment
Hardware Selection – Trade Off Studies
Verification and Validation Test
Project Status
Updated Mass and Power
Cost Report
| Vendor | Item | Unit Price | Quantity EE Dept. /Total | EE Dept. Extended Cost | |
| 1 | LOWE’S | Miscellaneous Hardware | 54.31 | 54.31 | |
| 2 | Mouser | Electronics | 27.82 | 27.82 | |
| 3 | Pololu | Hardware (Motor/Gearbox/ Wires) | 9.55 | 9.55 | |
| 4 | Hobby People | Electronics (Battery/ Connectors) | 16.33 | 16.33 | |
| 5 | Oshpark | Color Pad PCB | 0.60 | 0.60 | |
| 6 | Oshpark | Shield PCB | 20.45 | 20.45 | |
| Total: | 129.05 | ||||
| Allocated Budget | 125.00 |