Applications and Implications (May 13)
For my final project, I decide to stick with my original goal: making a digital marionette quadruped walker.
I documented the progress so far in my Final Proposal page May 16 update.
And here is simplified list of Q&A about the project.
What will it do?
-The final project consist of two quadrupeds. One have motors in the joints, and the other have angle measuring inputs in the joints. The two will be connect wirelessly by bluetooth, and the one with the motors will follow the pose of the one with angle measuring inputs. Basically creating a wireless controlled marionette quadruped walker.
Who's done what beforehand?
-It's been done many times as industrial robot hand control method. However I can't find documentation of this method being used as a way of hexapod or quadrepod performance.
What materials and components will be required?
-All the parts that this project need are list on the Final Project page.
Where will they come from?
-I source most of the parts from internet store. However the motors came from a broken Darwin Mini robot I got secondhand from Kijiji, which saved me a few hundred bucks.
How much will it cost?
-It's about 250 USD in total.
What parts and systems will be made?
-Anything other than the bluetooth module, battery, and voltage regulator, most of the parts will be made. Include all the control boards, both quadrepod body, and all the codes that make it work.
What processes will be used?
-PCB milling, CNC milling, laser cutting, carbon fiber composite (without the bakinging), 3D printing, and of course all the 2D 3D drawing plus coding.
What tasks need to be completed?
-Coding the board, making the PCB, drawing the 3D and 2D files, laser cutting 2D files, 3D printing 3D files, assembly both quadrepod, and programming the bluetooth modules to connect to each other automatically.
What questions need to be answered?
-Two major questions I need to solve. First, how to properlly control the motors I got, since it's different than normal hobby servo. Second, how to get the two bluetooth modules to connect to each other automatically.
What is the schedule?
-I'm planning to have the hardware build and assembly at the beginning of June, and working on making it move properly for the rest of the time before presenting.
How will it be evaluated?
-Have both quadrepods assemble and present.