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: <http://www.wowwee.com/en/products/toys/robots/robotics/robosapiens:robosapien-v2> y Zagros Robotics. Web. 08 Dec. 2009. <https://www.zagrosrobotics.com/Index.asp> y "Circuitry ‐ RoboSapien V2 ‐ RoboGuide." EvoSapien ‐ Robosapien V2 Headquarters. Web. 08 Dec. 2009. <http://www.evosapien.com/robosapien‐ hack/nocturnal/RoboSapypienV2/circuitry.html>. y "MSP430 Wireless Development Tool ‐ EZ430‐RF2500 ‐ TI Tool Folder." Focus Home Page. Web. 08 Dec. 2009. <http://focus.ti.com/docs/toolsw/folders/print/ez430‐rf2500.html>. y "RM Mech‐RC Programmable Humanoid Robot RM Mech‐RC Mech RC MechRC."Touchboards.com Interactive Whiteboards and Projectors Touchboards Touch Board Multimedia. Web. 09 Dec. 2009. http://www.touchboards.com/RMTTS/Mech‐RC.html y "Amazon.com: Tekno Mega Mech R/C Robot 48‐Inch: Toys & Games." Amazon.com: Online Shopping for Electronics, Apparel, Computers, Books, DVDs & more. Web. 09 Dec. 2009. <http://www.amazon.com/Tekno‐Mega‐Mech‐Robot‐48‐ Inch/dp/B000P42108/ref=pd_sbs_t_4>. y "I‐Sobot." Maker SHED from MAKE Magazine, craftzine.com, and Maker Faire. Web. 09 Dec. 2009. <http://www.makershed.com/ProductDetails.asp?ProductCode=MKTY1>. y Fast Light Toolkit (FLTK). Web. 09 Dec. 2009. <http://www.fltk.org/>..