Laboratory
Lab Rules and Guidelines
Spring 2011 Lab Warm-up Experiments
# | Topic | Notes | Due Dates |
---|---|---|---|
0 | Introduction to Junior and Dynamism |
Students are introduced to Linux systems and the Junior platform via instructor-guided walkthrough. Topics to be covered: laboratory rules and regulations, basic Linux commands, robot fundamentals, use of Dynamism interface for calibration, standing, locomotion in manual mode, and logging data. |
Prelab Due: 1/20 Demo Due: 1/27 Report Due: 1/27 |
1 | Mathematical Underpinnings of a RHex Gait |
This experiment was originally devised by Dr. G. Clark Haynes for summer interns in Kodlab. Students are introduced to the basic scheme that allows the RHex family of legged platforms operate over a rich and diverse set of terrains: The Buehler Clock. In this experiment, students, first, investigate various parameters that shape the clock. Then, they use Dynamism interface to tune a walking gait that uses alternating tripods. Hypothesis : When appropriately phased among the six legs, the two-phase motion (a slow stance phase followed by a fast recirculation phase ) represented by Buehler Clock produces stable locomotion. |
Prelab Due: 1/27 Demo Due: 2/2 Report Due: 2/2 |
2 | Dynamics of Steering |
Steering and turning in place are quite straightforward concepts for a platform with differential wheel based locomotion capabilities. On the other hand, for a highly mobile platform like RHex, even turning in place is a big challenge once power efficiency and thermal constraints are taken into consideration. In this experiment, students will investigate ways to modify the Buehler clock for turning in place and dynamic steering. Hypothesis: Turning can be achieved via small adjustments to a straight running gait. |
Prelab Due: 2/2 Demo Due: 2/24 Report Due: 2/26 |
3 | Proprioceptive Sensing and Locomotion |
In this experiment, students are introduced to some of the proprioceptive sensory capabilities of the Junior platform. According to Wikipedia, proprioception is "… the sensory modality that provides feedback solely on the status of the body internally". The goal of this experiment is to integrate given proprioceptive sensory capabilities with locomotive skills developed in the previous experiments to perform a simple planning scheme that lets Junior platform to traverse a known path. Hypothesis: Proprioceptive sensors can provide insights into interactions between a robotic platform and its environment. |
Prelab Due: 2/24 Demo Due: 3/3 Report Due: 3/5 |
page revision: 24, last edited: 17 Feb 2011 15:25