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In this section of the report the background of this project is discussed. Various researchers and their work will be discussed briefly. How their work has influenced our research and how we have developed further from their results. Key terminology used in the report will be defined. Introduction
In this section of the report the background of this project is discussed. Various researchers and their work will be discussed briefly. How their work has influenced our research and how we have developed further from their results. Key terminology used in the report will be defined. Introduction
In our current state of technology we have the ability to build and program robots to do many types of tasks that need not be done by living beings. It is now feasible for robots to take on more complex roles and tasks.
The limitations that currently face robotics is the inability to accurately mimic natural movement. Non-natural techniques such as the use of wheels only have their advantages on plain and leveled surfaces. The biggest problem faced by these type of robots is to sustain stability while traversing rugged terrain. This is why there is a shift in research to develop more naturalistic movements such as walking.
Robots should be able to balance on their own. External forces should not be able to destabilize them, which would result in them falling over.
Thus, a robot is needed that can survive on its own utilizing AI-based algorithms. The robot need not be controlled remotely and should function and move independently. Processor power should be concentrated on more important functions and not on trivial tasks such as balancing and walking.
Project Motivation
Project Motivation
Our motivation for attempting this project was to demonstrate our abilities to see an idea from beginning to end. We wanted to start out with an original idea and use the knowledge we gained at Ryerson to implement the idea.
As Computer-Electrical Engineering students, we wanted to pursue a design that inter-linked hardware and software components. We wanted to take part in a project that had a difficulty level that would challenge us and yet be realistic. Furthermore we wanted to seize this opportunity to work with the PIC micro controller and further our experience programming in assembly.
Background
Background
The main reason for choosing this project is the complexity it holds along with its close interrelation to the real world. The 'Asimo' created by Honda is one of the elite prototypes that deals with autonomous locomotion. It has great processing speed which allows it to continuously balance and walk.
Asimo predicts its movement and then shifts it center of gravity accordingly. The key difference we wanted to achieve is that the robot be able to decide on its own on which way to move when it is unbalanced. Therefore creating a sense of Artificial Intelligence for its motion control.
Researchers have developed theories where optimal force distribution for legs of a quadruped robot are based on the force system due to both equality and inequality constraints. Frictional constraints at the feet are utilized in determining the linear equalities.(REF: Optimal Force Distribution for the legs of a Quadruped Robot, By Xuedong Chen, Keigo Watanabe, ....1999)
In understanding these concepts it can be deduced that mathematical algorithms can be developed to determine the relationship between balancing and the force at the feet. The center of gravity was the next researched topic to see its relation with the balance of the prototype.
Objective
Objective
Develop and build an autonomous robot that can balance and sustain stability based solely on the center of gravity of the robot. Sensor input will be processed with minimal micro-processing interaction, thereby allowing it to concentrate on other future primary functions.
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What's Out There, And What We Plan To Accomplish
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