humanoid robot head: may 09-11
DESCRIPTION
Humanoid Robot Head: May 09-11. Team: Dan Potratz Cody Genkinger Tim Meer Jason Pollard Andrew Taylor Client/Advisor: Alex Stoytchev. Planning and System Design. Problem/Need Statement Concepts & Renderings Requirements User Interface Market Survey Risks Schedule Work Breakdown - PowerPoint PPT PresentationTRANSCRIPT
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Humanoid Robot Head: May 09-11
Team:Dan Potratz
Cody GenkingerTim Meer
Jason PollardAndrew Taylor
Client/Advisor: Alex Stoytchev
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Planning and System Design
Problem/Need Statement Concepts & Renderings Requirements User Interface Market Survey Risks Schedule Work Breakdown Deliverables
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Problem/Need Problem – At the beginning of the project
there was a robotic frame with two mobile robotic arms, but a static shell for the head.
Need – The head needs to be capable of showing human-like facial emotions and movements.› Smile, frown, frustration, etc;› Tilt and pan the head, eyes.
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Concept Renderings
Provided by Isaak Moody
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CAD Renderings
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System Requirements F Req#001 – The head shall move front to back within a 90°
arc of motion with a velocity that will be equivalent to 90° per second
F Req#002 – The head shall move left to right within a 90° arc of motion with a velocity that will be equivalent to 90° per second.
F Req#003 – Mouth motions shall be handled by two servos, with a 180 degree arc of motion.
F Req#004 – Eyebrows shall be handled by a single servo, with a 180 degree arc of motion.
F Req#005 – A camera shall be implemented within the head or body to provide visual feedback for processing by the operator.
F Req#006 – The eyes shall be able to move on two axes, with a 30 degree arc in each direction.
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System Requirements NF Req#001 – The head shall look clean and
nonthreatening, while retaining human-like attributes. NF Req#002 – API shall be done within C#. Interfaces
will be done in C#. NF Req#003 – Movement of the head shall be smooth
and well transitioned. NF Req#004 – Motors shall be quiet and not distracting. NF Req#005 – API shall follow format of existing arm API. NF Req#006 – The microcontroller board shall be
connected to our PC via serial or USB. NF Req#007 – Servo wiring shall be twisted pair to
maintain low noise emission.
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User Interface Specification:
Overview User-directed scripting for robot
animations.› Record and playback scripts
Manually adjust each facial and neck part.
Adjust hardware related options.
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User Interface Specification:
Goals To create animations for head To create a clean, easy to understand
interface To create a stable interface with:
› Proper error reporting› Feedback for the user› Crash acknowledgement
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Risks Technical:
› Servo controller/motor malfunction.› Difficulties integrating serial interface.
Financial:› Parts may exceed small budget.› Loss/denied funding for project/parts.
Schedule:› Shipping delays› Course work delays project tasks
Customer Acceptance› Not pleased with result/design and documentation› Solution might exceed budget
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Schedule
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Work Breakdown
CADCodingParts SelectionPrototype ConstructionTestingDocumentationRedesignFinal ReportPlanning ReportDesign Report
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Market Survey Specific to the design of our head,
there are few similar projects.› MIT
Mobile/Dexterous/Social “MDS” Nexi Leonardo Kismet
› Philips Research iCat
› University of Hertfordshire KASPAR
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Deliverables
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System Design Functional Decomposition Specifications Testing Prototyping Documents
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Functional Decomposition
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Hardware Specification: Neck – Pitch & Pan
Two servos 0-180º < 1 second Two degrees of
freedom Fits inside space
provided on the chassis
Supports up to 4kg Price: $299.88
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Hardware Specification: Neck – Rotating Servomotor
Operating Voltage: 4.8-6.0 Volts
Operating Speed (6.0V): 0.16sec/60° at no load
Stall Torque (6.0V): 56.93 oz/in. (4.1kg.cm)
Current Drain (6.0V): 8.8mA/idle and 180mA no load operating
Dead Band Width: 8usec Motor Type: 3 Pole Ferrite Bearing Type: Dual Ball Bearing Gear Type: Nylon Weight: 1.6oz (45.5g)) Price: $15.00
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Hardware Specification: Neck – Tilting Servomotor
Operating Voltage Range: 4.8-6.0 Volts
Operating Speed (6.0V): 0.15 sec/60° at no load
Stall Torque (6.0V): 333oz/in. (24kg.cm)
Idle Current Drain (6.0V): 3mA at stop
Current Drain (6.0V): 240mA/idle and 3.0 amps at lock/stall
Dead Band Width: 2usec Motor Type: Coreless Carbon Brush Bearing Type: Dual Ball Bearing MR106 Gear Type: Titanium Gears
Dimensions: 40 x 20 x 37mm Weight: 2.29oz (65g) Price: $115.00
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Hardware Specification: Eye – Tilting Servomotor
Operating Voltage Range: 4.8V to 6.0V
Operating Speed (6.0V): 0.11sec / 60 deg
Stall Torque (6.0V): 7.4kg / 112oz
Bearing Type: Dual Ball Bearing Gear Type: Metal
Dimensions: 42.0 x 21.5 x 22 Weight: 32.0g / 1.12oz Price: $20.00
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Hardware Specification: Face – Servomotors
Operating Voltage: 4.8-6.0 Volts
Operating Speed (6.0V): 0.09sec/60° at no load
Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)
Motor Type: 3 Pole Ferrite Bearing Type: Top Ball Bearing Gear Type: All Nylon Gears Dimensions: 21.8 x 11 x
19.8mm Weight: .27oz. (7.8g) Price: $14.00 each
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Hardware Specification: Head – Microcontroller
Max packet size: 59 bytes Max control rate: 15
instructions / second 74% available bandwidth
used worst case
1 to 8 servos per board with 8-bit resolution
<1° of servo position precision resolution
Servo port can be reconfigured for digital output to drive on/off devices.
Dimensions: 1.4 in X 1.7 in Price: $80.00
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Hardware Specification: Head – Cameras
Video capture: › Up to 640 x 480 pixels
(VGA CCD) Still image capture:
› Up to 1280 x 960 pixels, 1.3 megapixels
Frame rate: › Up to 30 frames per
second Price: $50.00
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Hardware Specification: Testing
Servos› Function Generator› Oscilloscope› Bench-Top DC Power Supply
Microcontroller Board› Oscilloscope› Computer with serial connection› HyperTerminal Communication Software› Bench-Top DC Power Supply
Power Supply› Bench-Top Multimeter› Bench-Top DC Power Supply
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User Interface
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Software Specification: Overview
Software tools to allow for interaction with robotic head› RS-232 Instructions
Broad library› Easy to develop scripts› Implementation
Written in C#
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Software Specification: Goals
Broad functions that allow for full movement control› Each servo is controlled and receives feedback
from microcontroller. Descriptive functions
› Anticipate future changes› Easy to read and use
Command hierarchy› Reduce redundant code› Stable functions› Easy to create new functions.
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Software Specification:Library
Robot Head class› Provides functions for controlling each servo
(face, eyes, neck) Graphical User Interface
› Allow script building Listbox – easy to manage and build scripts Building facial positions (eyebrows and mouth)
› Interface with controller Allow for direct control of head Mapping buttons to face emotions
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Software Specification: Testing
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Software Specification: Testing
Unit Testing:› Test each software component.› Ensure each component works to design.
Software System Testing:› Manual test using HyperTerminal› Ensure system works to design.
User Validation› Ensures design overall correctness.
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Simulation & Prototyping Simulations run as head was
constructed Several prototype versions
› Plastic pieces not built to spec› Client’s desire to change final details
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Test Results
Head can operated for 4+ hours No program crashing in 4+ hours of
continuous use No overheating during 4+ hours Some jitter still present in the eye tray When head reaches outer bounds,
servos start to rubberband
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Electrical CAD:Connections
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Mechanical CAD:Helmet
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Implementation Final Builds Complications & Conclusions Future Work
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Robot Head:Final Build CAD
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Robot Head:Final Build CAD
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Robot Head:Final Build CAD
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Robot Head:Final Build CAD
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Complications Servos
› Overheating› Stalling out› Jumping gears
Plastic› Not printed to spec
Software› Cross-communication between microcontrollers› Communication blocking during transmission to
serial board
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Future Work Cameras Microphones
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Demonstration
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Questions