Robot Platform Development and Evolution

Hardware ( PlatformConcepts )

• Body Design Requirements contains things that the new robot design should be able to do and how important they are.
• The PlatformConcepts page contains explanations of the initial concepts shown at the August 28 Kickoff meeting.
• A second concept of a 6 legged, 12 DOF machine. This concept uses the 4-bar linkage and foot concept concived by the Stanford group. For more details on this concept see PlatformConcepts. -- AaroSaunders? - 29 Aug 2003
• See also AdamPrickett 's pages on LegNumberDiscussion and LegPlatformDevelopment
• NxtGen - Links and notes on processor hardware needed for next generation of Sprawl/climbing robots
  • Microcontrollers, STAMPS, PICs, etc.
• Version 1 of the RiSE platform has 6 legs and utilizes a 4-bar linkage for leg movement
  • V1.1 has 2 motors and differential gears to control the 4-bar linkage
  • V1.2 has similar motors and belt-drive to control the 4-bar linkage
    • The front/mid/rear leg-pair spacing can be adjusted

Robot Communication

• BlueTooth - Links and notes on Bluetooth products for 2-way communication in NxtGen
• Version 1 of the robot uses 802.11b communication standards

Power Sources

• LithiumIon - Early Li+ battery information
• Version 1.1 of the RiSE platform uses NiMH (Nickel Metal-Hydride) batteries
• Version 1.2 of the RiSE platform uses LiPo (Lithium Polymer) batteries

Actuation

• Twelve Maxon motors are used to actuate the 6 legs on Version 1 robot

-- MarkCutkosky - 24 Jun 2003