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ROCKO: Week 10 Demo (handout)

ROCKO: Week 10 Demo (handout)

Overview of System

Mechanical

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Electrical

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Software

Winter Quarter Architecture (1).png

End of Quarter Goal Statement

In the winter quarter, team ROCKO endeavored to fully develop and characterize a balancing robot prototype.

Specifically, this broke down into the following qualifiers for the robot:

  • maintaining balance

  • responsiveness to joystick input

  • interoperability with sensors (motor controllers, encoders, 9-axis IMU)

  • consistent electrical operation

  • stability in software environment

The team additionally sought to characterize the mechanical robustness and deficiencies of the prototype robot, and finalize design decisions for the “V2” revision planned for spring quarter.

Status: Requirements

In summary…

  • = ROCKO is balancing.

    • The main technical goal has been achieved.

    • However, there are many adjustments and improvements to be made in Spring to approach our intended behavior.

      • Coming in spring: intentional driving and turning, improved balancing stability, and joystick commands. These are major feature adds.

      • Mechanical robustness will be significantly improved on V2. This is another major feature add.

  • + ROCKO’s software environment is stable.

    • ROCKO presents a complex software system running on a Raspberry Pi 5, a novel implementation of these concepts.

  • + ROCKO is interfacing with all of its sensors effectively.

  • - ROCKO is overbudget.

    • ROCKO V1’s unit cost was 150 dollars higher than expected. We expect to mitigate this with V2, where hardware reductions alone are anticipated to reduce cost by at least 100 dollars.

Team ROCKO has encountered many road blocks, but is confident moving into spring quarter that we will be able to develop a stable robotics platform capable of locomotion while balancing, and that this platform will be able to accommodate future expansion and learning. Thorough documentation of robot construction and systems will make this platform accessible.