Roo Autonomous Hopping Robot Intelligent Machines Design Lab

Roo Autonomous Hopping Robot Intelligent Machines Design Lab EEL 5666 Aaron Suedmeyer

Beginning Idea • Pogo stick with balancing

First Evolution • 2 legged hopper • Test platform – No balancing – No foot – No direction

First Evolution - Problems • Could not implement directional changes • Could not get gyros to work • Could not use tilt method

Second Evolution • 2 legged hopper – Legs closer together – 1 round foot – No balancing – Leaned at 15º angle – Implemented direction changes

Third Evolution • 2 legged hopper – 1 foot with skis – No balancing – Implemented direction changes – Leans at 10º angle • Behaviors – IR following

Sensors • 2 IR detectors – IR following • 1 micro switch – Locking • Accelerometer – Sensor to indicate pitch of robot – Not implemented

Integrated System • TJ Pro board • 2 servos (200 ounce/inch) – Stretching rubber bands • 2 servos (40 ounce/inch) – Locking – Changing direction

Code • Main() – Sets servo defaults – Sets IR offsets – Starts processes • Action. Servos() – Sets servo degrees based on sensors • Read. Sensors() – reads sensor data • Routine() – Timing for jump – Runs search() • Search() – Finds IR – Runs spin. Direction() • Spin. Direction() – search pattern

The End • Roo – Autonomous Hopping Robot