KONGKONG Abstract Developer Challenge Two of a Team Sponsor: ROBOTIS October 2013 Club Activity
Robotis, a robot company which makes actuator oriented robot modules and driver software for multi-joint robots, hosted a competition. The topic was to use its small controller and 4 small motors to come up with a creative idea. My friend and I decided to participate. The competition wasn’t big scale but we were able to choose our topic freely and had a chance to use new products. We chose our keyword as “small” so we decided to apply insect’s biophysical characteristics to our robot. For our research we researched bug’s linear & curled-up motion and realized it using Rhino 3D CAD design and trial runs. Also, it became a great opportunity to use 3D printing technology to make robot parts.
ABOUT ROBOTIS
BRAINSTORMING One OpenCM9.04 and four DYNAMIXEL XL-320. DYNAMIXEL XL-320 is the smallest actuator of Robotis. We proceeded brainstorming focusing on ‘small’
Robotis is a company that provides robotics solutions such as actuators, controllers, sensor modules, and robot-driven software. Robotis makes educational robot and humanoid with their product, ‘OLLO’ and ‘Dynamixel’. DYNAMIXEL XL-320
1
2
OpenCM 9.04
Automobile 24
24
3
3
Selected
Worm 4
36
<Top View>
<Front View>
<Right View>
<Rear View>
The theme of Developer Challenge was ‘Using OpenCM9.04 (embedded board), and DYNAMIXEL XL-320 of Robotis, show-off creative idea and solution.
Rolling
Spider
Worm is long enough to be represented by 4 motors. It is also small enough to show the advantage of using small actuators and controller.
INSPIRATION
Movement of Caterpillar
Shells of Roly Poly
Rolling of Roly Poly
Links
3D Printing
Pressure Sensor
We decided to combine these three features. When roly poly is receive impetus, it curl up itâ&#x20AC;&#x2122;s body to protect itself. For this, we chose using pressure censor. We want to express emotional movement by realizing this motion.
PROBLEMS
MEASUREMENT
Before we made the robot, we had checked problems that would happened.
We measured basic elementsâ&#x20AC;&#x2122; dimensions.
When the robot bends, it should not interfere each other.
When the robot unrolls itâ&#x20AC;&#x2122;s body, shells should not crash each other.
SOLVING DESIGN BASED ON MEASUREMENT
STEP 1
STEP 2
int mode = 1; i n t a n a l o g Va l u e = 0 ; c o n s t i n t a n a l o g I n p u t Pi n = 0 ;
//step 2
vo i d s e t u p ( ) { D x l. b e g i n ( 1 ) ; p i n M o d e ( a n a l o g I n p u t Pi n , I N P U T _ A N A LO G ) ; pinMode(16,OUTPUT ); d i g i t a l Wr i t e ( 1 6 , H I G H ) ; } vo i d l o o p ( ) { a n a l o g Va l u e = a n a l o g R e a d ( a n a l o g I n p u t Pi n ) ; i f ( a n a l o g Va l u e > = 4 0 0 ) { mode = 0; delay(1000); } if(mode==1){ D x l. w r i t e Wo rd ( 1 , 3 2 , 5 0 0 ) ; D x l. w r i t e Wo rd ( 2 , 3 2 , 5 0 0 ) ; D x l. w r i t e Wo rd ( 3 , 3 2 , 5 0 0 ) ; D x l. w r i t e Wo rd ( 4 , 3 2 , 5 0 0 ) ; D x l. w r i t e Wo rd ( 1 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 ) ; delay(500);
On the basis of measurement, we designed shells that allow stable pose when the robot curls up and adjusted proper length of links by using Rhino.
//step 1 D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 - 2 0 ) ; delay(10); D x l. w r i t e Wo rd ( 2 , 3 2 , 1 5 0 ) ; D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 - 2 0 7 + 3 5 ) ; / / 3 4 0 2 D x l. w r i t e Wo rd ( 3 , 3 2 , 1 5 0 * 2 . 0 1 2 ) ; D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 - 2 0 7 - 1 3 9 ) ; / / 1 6 6 3 D x l. w r i t e Wo rd ( 4 , 3 2 , 1 5 0 * 1 . 9 8 ) ; D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 - 1 6 0 ) ; delay(400);
D x l. w r i t e Wo rd ( 3 , 3 2 , 1 9 1 ) ; / / 2 0 0 D x l. w r i t e Wo rd ( 4 , 3 2 , 5 4 ) ; / / 2 0 0 D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 + 1 9 0 ) ; / / D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 ) ; / / D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 - 8 3 ) ; / / delay(800);
STEP 3
CURL UP
else if(mode == 0){ //curl up D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 + 4 0 0 ) ; D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 - 2 0 0 ) ; delay(500); D x l. w r i t e Wo rd ( 2 , 3 0 , 1 0 2 3 ) ; delay(1000); D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 + 3 1 0 ) ; delay(1000); D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 + 3 1 0 ) ; delay(1000); D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 - 3 1 0 + 3 5 ) ; D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 + 3 1 0 + 7 0 ) ; D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 + 3 1 0 + 2 0 ) ; delay(5000); D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 ) ; delay(1000); D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 + 7 0 ) ; delay(1000); D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 ) ;
//step 3 D x l. w r i t e Wo rd ( 2 , 3 2 , 2 0 0 ) ; / / D x l. w r i t e Wo rd ( 3 , 3 2 , 1 9 1 ) ; / / D x l. w r i t e Wo rd ( 4 , 3 2 , 8 7 ) ; / / //locomote D x l. w r i t e Wo rd ( 2 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 3 , 3 0 , 5 1 2 ) ; D x l. w r i t e Wo rd ( 4 , 3 0 , 5 1 2 + 6 0 ) ; delay(400); }
}
mode = 1; delay(500);
}
We also tested over and over to realize the exact motion of worm through the programming.
MAKING
TESTING
FINAL
Conclusion Unlike other competitions which focused on ‘performance’, this robot competition allowed us to create the robots we wanted to make. Before we were able to realize bug’s motion, we minimized operation error by using Rhino’s numerical based design and save a lot of time. Also, we showed our robot club how we can extend utility of 3D printer from just using 3D printing to create structural frames for robots to create robot external body as well. Robotis Dynamixel motors, the ones used in our robot, are used for educational purposes because it is easy to use. Our robot, Kongkong is for competition and just a prototype. It isn’t perfect. However, optimizing Kongkong design and attaching LEDs and Cameras will allow it to be used for educational purposes as well.