Project name:Stabilization of Payload for Legged Robots
Brief description of project
All legged robots depend on sensors, such as cameras,
attached to robots so they can move. When these robots run,
the motion of the robot causes the data to have noise.
When data has noise, or outside disruption that effects the data quality,
it is hard to interpret and not ideal. This project focuses on designing and
creating a stabilization system. The system will reduce motion of the sensors
on the robots. with this project, the data returned is more usable and helpful.
The data is better because of reduced motion at sensor locations. The baseline
of motion data for this project is from the Minitaur robot. Dr. Ordonez and
David Balbuena use the Minitaur in the Aero-Propulsion, Mechatronics, and Energy Center (AME).
Data collected from he Minitaur shows how much motion is acting on the sensors.
The design of this project involves a mechanical system that can attach to
different platforms The design is an independent system that attaches to the robot.
The project uses four servo motors to counteract the motion and steady the camera.
The system also uses software in combination with hardware, to actively respond
to the robot motion. The motors more the system to balance the motion of the sensors.
The project system's frame is 3D printed. The 3D printed frame has cutouts in the linkages
to reduce weight. The linkages connect the motors and the camera.
3D printing results in a lightweight product that also improves data clarify
without compromising the operation or effectiveness of the robot. The project uses
a camera as the main sensor, so video from the camera shows how the project improves data.
Overall, the project can be applied to different platforms and improves sensor feedback.
