The Robot That Dances With You
Alexander Barnes Jessica McMillin Franck Norman William Somers Ngoc Vu
Prof. Dezhen Song T.A. Aalap Tripathy Requirements ¾Create a human-robot system where the robot emulates the human motion, captured with accelerometers, in real time. ¾ Wirel ess communi cati on f rom th e cont roll er t o th e PC and rob ot ¾ 10 Degrees of Freedom (DOF) ¾ Dance without falling ¾ Real time reaction ¾ Accurately emulates motion ¾ Reset and calibration capabilities ¾ Control suit for user to wear High Level View of System Alternative Solutions
RM Mech‐RC Programmable Tekno Mega Mech I‐Sobot Humanoid Robot R/C Robot $125.00 $625.00 $225.00 6” tall 48” tall System Level Design
¾Data from the suit will be sent to the PC via wireless ¾Robot send motor feedback data to PC via wireless ¾PC display and log data from suit and robot ¾PC control robot via wireless ¾All wireless accomplished with Cypress Programmable Radio on Chip (PRoC) System Level Design Details of Major System Components y Wireless Bridge Development –PC End y Suit Development –Motion Capture y Robot Motor Control ‐ Actuation Bridge Development y Cypress CyFi y “Extremely easy to use and program” y Unfortunately does not allow custom PC applicati ons to iifnterface wiihth it y Proprietary “Sense and Control Dashboard” y Eventually will be opened up to the public, but didn’t do us any good. Bridge Development y Texas Instruments MSP430 y Difficult to program for y Lots of cryptic macros and constants y Would have been hhlflelpful to have the hardware debugger Bridge Development y USB to I2C (CY3240) y Simple to use y C# interface easy to program y Unfortunately relies on Microsoft’s ActiveX technology y Vendor locked y C++ development requires MFC y “Sledgehammer hitting a nail” y Not all applications need a GUI or want to use MFC Bridge Development y Solution y Use C# to interface with the hardware y Needed to use C++ for FLTK* (GUI library) y Spawn off as a child process y Communicate via stdin/stdout
*FLTK is used by the motion capture lab at A&M Bridge Program Bridge Future Improvements y More Accurate translation from accelerometers to robot motors y 3D representation of robot and control suit “skeleton” y Find a better communiiication chip or ddiesign a custom board that doesn’t depend on ActiveX and gives developer more design freedom Suit Development
¾ TI MSP430
¾ 3D Accelerometer s ¾ 5 Cypress Programmable Radio on Chip (PRoC) ¾LIS302DL breakout board ¾Programmable Microcontroller ¾ +/‐ 8g, 8‐bit resolution ¾Radio on board ¾ I2C communication ¾Easy to program ¾Few number of Parts Preliminary Testing
¾Testing Accelerometer I2C Interface with a PSoC –CY8c29466 Suit Design -Integration ¾ Control suit made with PVC pipe rods throughout: y Accelerometer nodes attached to rods in specific places on the suit y Secured with duct tape and thread y Wires run throughout suit to connect microcontrollers and accelerometers
¾Accelerometer Data Acquisition and Transmission to the PC End using Cypress’ Programmable Radio on Chip –CYWUSB6953 Robot Motor Control ¾WowWee Robosapien V2 Robot Motor Control ¾ Motor board ¾ PWM Signals
PWM output signals from motor board Head Up/Down Motor Robot Motor Control ¾Motor testing y Direct Current y Pulse-Width Modulation y H-BBidridge
Direct Current Simulation PWM Signal Simulation Robot Development ¾H-Bridges
#203 Dual‐Channel Motor Driver H‐Bridge Simulation Robot Development
Motor Control Board Robot Design Process – Reingineering the RoboSapien
Original RoboSapien Hacking/Testing Phase Final Product Motor Control Future Improvements
¾ Feedback ¾ Power Issues With PRoC and PSoC ¾ Simultaneous Motor Control ¾ Robot Limited Motion
PSoC and Regulator Missing References y "WowWee™ Robosapien™ V2." WowWee™ Astonishing Imagination. Web. 20 Sept. 2009. [Online] Available: