Robots
Pencil-Bots
Pencil-Bots are simple robots simulated in IGRIP as teaching tools for students learning robotics. The current Pencil-Bots include:
- Linear1d — A robot with a single linear joint. The pencil is constrained to move in a straight line. (IGRIP file)
- Angular1d — A robot with a single rotational joint. The pencil is constrained to move in a circle. (IGRIP file)
- Angular2d — A robot with two rotational joints on parallel axes. The pencil is constrained to move in a plane. Linear motion is difficult. (IGRIP file)
- Planar3d — A robot with three rotational joints. (IGRIP file)
HallWalker
HallWalker is an autonomous battery-powered mobile robot. The mechanical structure is from a commercial Heathkit Hero-I robot. HallWalker is currently controlled by a pair of 68HC11 microcontrollers. He has 9 significant degrees of freedom (the standard 6 plus a rotating head and a steerable drive wheel). Two rear wheels simply coast and are not modeled as additional degrees of freedom.
Sensors include an ultrasonic rangefinder, an ambient light sensor, a microphone, limit switches on the head and steering, a rotational sensor on the drive wheel, infrared tracking sensors, and more.
Human interfaces include a small LCD display, several pushbuttons, and a voice synthesizer.
HallWalker has been modeled in IGRIP. Simulated drivers written in C are linked to IGRIP and provide a realistic simulation environment for testing of navigation algorithms written in C. This environment allows for simultaneous hardware/software co-engineering. A photo of the real robot and a screen shot of IGRIP are shown below.
A small dock provides for recharging. HallWalker is capable of autonomous navigation until his batteries are low, at which point he navigates back to the dock for recharging.
IGVC Robot
Robotics has long been a focus of Bob Jones University's Department of Physics and Engineering. Starting with small-scale robots like our refitted and updated HERO-1, we have mastered the basic issues of robotics technology. This year, we are designing a new robot from scratch in preparation to enter the Intelligent Ground Vehicle Competition (IGVC).
The basic idea behind the IGVC is to design and build a robot that acts autonomously, operating without any
form of remote control. Instead, the robot carries its own computing engine and sensor system and therefore
acts entirely on its own. The IGVC involves two separate competitions: 1) navigating an obstacle course and
2) following a pre-defined course of navigational waypoints.
Our Robot
We began the autumn 2004 semester by designing and building the basic hardware. Our IGVC entry is made mostly of aluminum and is driven by a pair of 1 hp electric motors which give us the power we'll need to reach the maximum allowable speed of 5 mph. Three 12V gel cell batteries provide power for the motors, computer, and sensor systems.
Success in the IGVC depends largely upon two factors: 1) an effective sensor system and 2) well-designed software. At this time our robot is equipped with an array of sensors and navigational aids that include
- A global positioning system (GPS) accurate to 3m
- An electronic digital compass
- A video camera and video capture interface
- A digital motor controller with optical encoder speed control
Our software runs on an Ampro LittleBoard Pv5 x86-based single board computer (SBC) under the TIMESYS Linux operating system. All code is developed in C for maximum control and flexibility.
Semester Goals
Our goals for this semester include three key milestones which will reveal how well our basic robot design works. These milestones include
- Driving a figure-8 with reasonable accuracy
- Navigating to a specified waypoint using the GPS and compass
- Following a white line on the grass using the video camera
Future Tasks
During the spring semester we will enhance the basic design and ready it for the IGVC competition in June. Future tasks include
- Exploring more sophisticated real-time operating systems
- Adding additional sensors such a rangefinder or radar
- Adding a second video camera for stereo vision
- Creating a user-interface panel
- Continuing to develop the software to perform the tasks required by the IGVC
Donors
A robot of this sophistication and complexity can't be built for free. Several companies have most kindly donated electronic components that have been extremely useful. Hardware and software donations to our project are always welcome and appreciated. In addition, prospective donors should also be aware of the Science & Engineering Endowment project through which they can donate to the BJU Science Department as a whole.
We would like to thank the following for their support:
| Item | Sponsor |
| Digital Compass TCM2-20 | PNI Corporation |
| Optical Encoders E6S-2000-750-H | US Digital Corporation |
| Digital Manufacturing Software | Delmia |
If you would like to learn more about our IGVC entry, have questions, or would like to consider a donation, please email Dr. Bill Lovegrove.
Paul
Paul is a pneumatic humanoid used in the programmable logic controllers lab.
