BiPed Creativity Exercise
Csulb EE 400D 2/15/2017
Alexander Clavel / Project Manager
Jacob Cheney / Missions, Systems, and Test
Abraham Falcon / Electronics and Control
Phong Nguyen / Manufacturing
Identifying Problems
Create a small list of problems with the current design then apply the creativity tool methods to come up with possible solutions
Some outside influences
Method 1: Brainstorming Approach
#1 - How to control shift in CoG
#2 - How should we design the legs
#3 - How to keep the feet from slipping
#4 - How to turn the BiPed
#5 - How to control walking with DC motors
Method 2: Attributes
We took a look at the different parts of the robot separately and then were better able to think of creative paths to take when designing the robot.
Color and Material
Black Plastic - Aluminum
Control device
Phone apps
Shape
inverted legs
Sound
Features
Robot beep:
20 Hz - 20,000 Hz
Biped _ Static walking
Method 3: Forced Relationship
Here we used the random noun generator to associate and relate different parts of the robot with random items.
Underwire
Rocking Chair
Truck
Method 4: Dunker Diagram
To come up with new ideas, we took a look at a desired goal and how to achieve it. Then we looked at solutions where it was ok to NOT meet the desired goal.
Problem (Present State):
Most Biped walk with Servos as the main movement.
Desired State:
Find a Better Movement for the biped to walk.
Make it not okay to use servos for the movement
Use Two DC Motors
Use Servos for the movement
Two Servos for the legs and Two for Ankles
Each Legs to have a DC Motor
Two Servos for the hips and two for the ankle
Use One DC Motor
Use Four Servos
Use Two Servos
Each Hips to have a DC Motor
New Problem Statement
Desired State
Method 5: Different Point of View
Here we took a look at the robot features from different perspectives or out of the box ideas.
Points of View
I am the Robot
Points of View
Made from common items found at home
aluminum or silverware
Point of View
Robot on the Moon
Points of View
In the future
Proposed Solutions
Using the different creative methods to come up with solutions for the different problems
How to control shift in Center of Gravity
Solution 1: Brainstorming
Idea: As soon as one leg is lifted the robot would lose balance and tip over. Having the robot bend over the ankle joint would keep the center of gravity in a suitable position.
Questions: How to get the weight over the ankle and the shifting it back over for the next step, using servos as in previous projects
Experiment: Conduct load analysis for servos to see what strength and weight is needed to make it work, then test them.
Solution 2: Brainstorming
Idea: Use arms to lift them up to the sides while the robot is taking steps to counteract the weight shift
Questions: How heavy and how big should the legs be? How would we move them?
Experiment: We could use servos to rotate the arms up and test the robot with the attached limbs or connect them to the dc motor through a crank to move simultaneously as the legs.
How should we design the legs
Solution 2: Brainstorming
Idea: Bring the legs closer together and put the dc motors either on top or outside of the legs as opposed to last semesters
Questions: What does moving the leg positions closer together do for the shift in center of gravity
Experiment: Build a rapid prototype and see how far over the how robot will have to lean to stay balanced over the ankle. Or use a program to simulate the physics of the system.
Solution 1: Dunker
Idea: Use two DC motors. One in each leg to control the walking motion.
Questions: How would the DC motors be positioned on their respected leg? Would they be positioned vertically or horizontally? High on the leg or low on the leg?
Experiment: Build a prototype and position the DC motors on various parts of the leg vertically and horizontally to see which way compliments our design the most. Also determine how positioning affects COG.
How do we keep the feet from slipping
Solution 2: Different Point of View
Idea: Have a separate attachable foot piece that is designed to specifically have better grip than the default foot.
Questions: How will the foot piece be attached? Would it be glued or screwed on permanently? Or something that you can detach and reattach depending on the walking surface type?
Experiment: Conduct friction tests to see how certain materials grip onto different walking surfaces. For example rubber on concrete or sandpaper on carpet.
Solution 1: Forced Relationships
Idea: Relating truck wheels to a robot we can put some kind of rubber on the bottom of the foot.
Questions: How much rubber should be applied to the area of the foot? How thin? Only partial coverage or full? What other material can be used? Will it affect the walking aspect at all?
Experiment: We can purchase different material samples and test their grip on smooth, rough, and slippery surfaces as well as inclines and declines to see how well they work.
How to turn the robot
Solution 1: Brainstorming
Idea: Follow the previous semesters idea of rotating a joint on the leg (preferably the ankle) on a horizontal plane to achieve a left, right or 180 degree turn.
Questions: How much of a load would be on servos? Would ankles be used for turning only or also for controlling center of gravity? How will the turn be controlled remotely?
Experiment Conduct load analysis and test the actual servo to make sure that it can actually handle the weight on it. Determine which joints (if any) can handle the load.
Solution 2: Forced Relationship
Idea: Use a back and forth style motion to turn the robot in any direction.
Questions: How will we implement the code to achieve this style of walking? How long will it take to turn if it has to keep going back and forth? How much room will it need to completely turn around?
Experiment: Play around with coding on prototype to see if turning is possible and practical to achieve turning without adding any extra moving parts.
How to control walking with DC motors
Solution 1: Brainstorming
Idea: Use one DC motor with crankshaft to control both legs simultaneously
Questions: How will we translate the energy from one spinning rod to move two legs at the same time? Can one DC motor provide enough torque for two legs?
Experiment: Prototype with a crankshaft and a belt/chain to create a static walk
Solution 2: Brainstorming
Idea: Use two Dc motors to control both legs independently
Questions: How will our embedded processor control both motors at the same time? How much weight does an additional DC motor add to system?
Experiment: Develop simple program to explore capabilities of having dual DC motors