![Page 1: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/1.jpg)
Quadruped Walking Robot
“Mini-Dog”Frank Bergschneider
IMDL EEL5666 April 18, 2013
![Page 2: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/2.jpg)
2
Objective System Overview Issues Conclusions/Future Work
Mini-Dog
Frank Bergschneider EEL5666 IMDL
![Page 3: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/3.jpg)
3
Objective: Follow a leader using quadruped locomotion and a color tracking vision system
Objective
Frank Bergschneider EEL5666 IMDL
![Page 4: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/4.jpg)
4
Block Diagram
System Overview
Frank Bergschneider EEL5666 IMDL
![Page 5: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/5.jpg)
5
Walking Pattern
Color Tracking◦ Noisy Delayed Image from Droid Camera◦ OpenCV Morphological Operation: Erode and Dilation
System Overview
Frank Bergschneider EEL5666 IMDL
![Page 6: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/6.jpg)
6
Turning while walking Remote Laptop vs Self Contained Bluetooth vs Xbee Board Defects
Issues
Frank Bergschneider EEL5666 IMDL
![Page 7: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/7.jpg)
Frank Bergschneider EEL5666 IMDL
7
Simplicity is good Embedded Camera Body Redesign for easier access to board New Legs-3rd Servo at hip
Conclusion
![Page 8: Frank Bergschneider IMDL EEL5666 April 18, 2013. Objective System Overview Issues Conclusions/Future Work 2 Frank Bergschneider EEL5666 IMDL](https://reader036.vdocuments.us/reader036/viewer/2022083009/5697c0211a28abf838cd30ea/html5/thumbnails/8.jpg)
8
Questions?
Frank Bergschneider EEL5666 IMDL