Galen's Robot Projects


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 Projects Index:
 OB1
 Stomper
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 OB2
 OOPic Multi-I/O

 Future Projects
 BYER

 Hackable Toys:
 I -Cybie  
 Spybotics
 

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 Suggested Reading

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Front Range Robotics!


  

Welcome to my robotics web page! This page describes a little of my journey into personal robotics as a hobby and details several of my robotics projects.

Robotics is one of those fields that touches many facets of science and engineering: mechanics, electronics, optics, and computer science being just a few. You do not have to be an engineering genius, or even that skilled at building things- but some ability to assemble things from kits or from scratch and an interest in at least one of the above engineering fields is helpful.

My own start in robotics came about from my rekindled interest in astronomy. One of the things I wanted to do is add computer control to my 8" home-built telescope. But before tackling such a project, I needed to learn more about servo-mechanisms and embedded controllers. Thus began my journey into to the weird and fascinating world of robotics...

What's New? 

February 23, 2006 - pages moved to silverstar server.
April 7, 2005 - MindSensors link added.
February 1, 2005 - page / link updates.
December 28,2004 - page updates.
November 22, 2004 - page updates, OB2 page link added.
October 21,2004 - new links and page updates.
July 12,2004 - updated OB2 project information.
June 28,2004 - updated I-Cybie information and revised page in general. Added information about OOPic Multi-I/O board. Added a "Hackable Toys" and "Whats New" sections.
 

 

Here are few of my robotics projects...

OB1 (Object Bot 1)  - an object grabber
(project recycled!)

Stats:
CPU: OOPic I
Sensors: Sharp GP2D12 IR range,
    2 - homemade reflective
Drive: 2 - modified HiTec HS25BB
Gripper: 3 - HiTec HS25BB
Power: 8 - AA, 1 - 9v
Weight: not known.

My first fully scratch-built robot was this one. This bot was built around a contest designed by Front Range Robotics ( yahoo group, web site ) club member Ed Rupp. The object of the contest is find and remove certain targets from a MiniSumo arena, while leaving other targets behind. Each of the targets has a specific size, color, weight, and "taste" (resistance value) - any of which can be sensed by the robot (click here for contest rules). At the time, I was taking an Artificial Intelligence class  (CS440) at Colorado State University, and decided this challenge would be a great demonstration project!

The CPU for this robot is an OOPic microcontroller, which I have found to be a flexible and easily programmed CPU for robotics. Initially I tried using toy motors for locomotion, but later switched to model airplane servos modified for continuous rotation. The servo gripper on the front uses unmodified model airplane servos. A Sharp GP2D12 rangefinder is used for locating targets.

OB1 could (often) locate, pick up, and toss out a target - but was too large to easily navigate the arena without knocking over other targets. Since it was built for a demonstration project, time was too short to work out the problem of sorting targets. But it was still a hit with my classmates when I gave my presentation!

Stomper
Insectronic walker

Stats:
CPU: MicroChip 16F84A
Sensors: SRF04 ultrasonic range

Motors: 3 - HiTec HS25BB
Power: 4 - AA Nmh, 1 - 9v Nmh
Weight: 23.7oz (673g)

This walking robot is one that I built from a book by Karl Williams "Insectronics Build Your Own Walking Robot" .

The CPU for this bot is a Microchip PICmicro 16F84A microcontroller. A very inexpensive (typically under $5 U.S.) microcontroller - however it requires a separate programming board and (if you want to write your own programs) a compiler.PicBasic Pro is the compiler mentioned in the book, though there are others such as CCS PicC and Proton. If you plan to build a lot of bots, the PICmicro becomes more attractive as the programmer and compiler are a one-time expense.

If you just want to build the robot and don't care to write your own programs you can download the hex files from the Karl's website  and the program the 16F84A with an inexpensive programmer. I built Myke Predko's "el-cheapo" programmer from his book  "Programming and Customizing PICmicro Microcontrollers" . Be sure to get a book that has both the PC board and software CDROM included!

Cyclops
MiniSumo bot

 

Stats:
CPU: Basic Stamp BS1-IC
Sensors: Sharp GP1U58Y IR,
    2 - QRB1134 reflective
Drive: 2 - modified GWS S03N 2BB
Power: 4 - AA Nmh, 1 - 9v Nmh
Weight: 16oz (454g)

Cyclops is my first combat robot. It uses a Basic Stamp BS1-IC microcontroller for its CPU. The PC board is home built but the chassis is Portland Robotics Society's Mark III chassis kit .

Sumo combat essentially is a shoving match between two bots - a point is scored by shoving your opponent off the combat arena (the "dojo"). Generally, a win is declared by scoring a point twice out of three rounds. Cyclops competes in the autonomous MiniSumo class - up to 500 grams (16 ounce) weight, and 10 cm (4") square. The dojo is a black circular platform approx 30" in diameter, with a white stripe around the edge so the robot can sense the edge.  Click here for MiniSumo rules.

Cyclops held the championship at FRR for awhile in the fall of 2003 but soon other robots started to exploit its weaknesses. I added model train weights to bring it up to the maximum 500g weight and a tip sensor to prevent being "scooped" by robots with drop down ramps. More recently though, Cyclops has become target practice for MiniSumos with better vision.

Just for fun, here is a short MPEG video of a recent combat in our club. The video is 2MB in size, so may take awhile to download if you are using a phone/modem connection.

OB2 (Object Bot 2)


Click for project details!

Stats:
CPU: OOPic II
Sensors: Sharp GP2D12 IR range,
    2 - QRB1124 reflective,
    homemade multispectral (color)
Drive: 2 - modified GWS S03N 2BB
Gripper: 1 - HiTec HS25BB
Power: 4 - AA Nmh, 1 - 9v Nmh
Weight: estimated 21oz (600g)

This robot is my second attempt at an object-grabbing robot (see  OB1 above for my first attempt). OB2 is designed to find and remove targets from a MiniSumo arena, while leaving certain other targets behind. Each of the targets has a specific size, color, weight, and "taste" (resistance value) - any of which can be sensed by the robot (click here for contest rules ).

OB2 uses an OOPic II microcontroller, a servo gripper , and a  Sharp GP2D12 rangefinder. The robot is built on a modified Mark III MiniSumo chassis kit  (a MUCH smaller footprint than my original OB1!).

OB2 identifies targets by color, using a bright surface-mount RGB LED as a light-source, and a visible-light phototransistor for sensing the reflected light. In brief, the targets color is determined by switching the RGB LED's colors individually and measuring the reflected light. By analyzing the reflected values, OB2 can determine the targets color, and then either remove it from the arena or keep it.

Since there is much more to this project than I can explain in just a couple of paragraphs - more pictures, diagrams, and other  information are available on my OB2 project page.

 OOPic Multi-I/O Board


Click for larger labeled image

This is one of my more recent OOPic design projects. The idea was to  provide the OOPic I, II, or II+ microcontroller with a single interface board containing the most common interfaces used in many of my robots. This board features up to 31 servo connections (with two separate power supply connections), a dual 1-amp H-bridge (able to provide full pwm speed control for two small dc motors),  a regulated 1-amp 5-volt power source with six connections, a power LED indicator, a speaker, and a true RS232 interface. The Multi-I/O gives older OOPic's many of the capabilities of an OOPic R, but with more available I/O connections! This board also provides serial programming capability (SCP) with the OOPic II+.

Pictured is my prototype, built onto an OOPic protoboard. A PC board version is also planned.

A Future Project...
BYER

"BYER" (BackYard Exploration Rover) is inspired by NASA/JPL/Cornels  Mars exploration rovers "Spirit" & "Opportunity." I have wanted to build an semi-autonomous explorer robot for some time; but only recently acquired a small RF video camera that could be used to provide a robots-eye view of the world.  A 2-way data link, environmental sensing (temperature/direction), and force feedback could also be implemented. One could even simulate the light-travel time delay that is experienced for the Moon or Mars (or anywhere else for that matter)!

Yeah, I don't have NASA size budget, but this still could be one cool demonstration project!


Hackable Toys...

Toys make great platforms to build robots as the mechanical design is already done! Almost any mobile toy can be made into a robot but some are easier to hack than others. Some toys are complete robots in their own, these make excellent platforms to modify for your own purposes. Here are a few...

I-Cybie


I-Cybie showing off the infamous "Cybie Grin"

These doggy-bots are a "poor-mans" version of Sony's Aibo . They are quite hackable (although mine is still relatively stock). Although Hasbro no longer distributes them in the U.S., Silverlit still produces I-Cybies and accesories such as a personality downloader, walk-up charger, and colored shells. New I-Cybies , accessories, and parts are available through Buy-Cybie.com!  Older model (but still new) Hasbro I-Cybies can sometimes be found on online retail outlets or good used I-Cybies can often be found on Ebay .

The I-Cybie is supported by an active user group. A software developers kit and a personality editor have been created by Cybiehack. I have also seen a BASIC language developers kit (look in Buy-Cybie.com "files" section to download).

I haven't played with either of the software developers kits yet, but after downloading the "Borg" personality, and tweaking it with Cybiehacks "Yict" personality editor, my Cybie has a whole new attitude... Cybie has been threatening me with "assimilation into the collective" for months!  :-)

Lego Spybotics
"SnapTrax"

Lego's Robot Construction Set (RCS) makes a great introduction to robotics but may be too expensive for those just starting out. However, Lego's Spybotics kits are available for less than 1/3 the price! Although more limited than the RCS, Spybotics kits provide a great collection of pre-designed snap-together mechanical parts (requiring no tools for assembly).

A Spybot can be assembled in a couple hours and with a bit of experimenting you can program it using the graphic programming language that comes on the Spybotics CD-ROM (all instructions for construction and programming are on the CD-ROM). Parts can be added from other Lego kits (for example Lego Racers have lots of useful parts and tires) to create your own unique robot. Spybots have no built-in expansion for additional sensors and actuators, but the controller can be hacked (see April 2004 issue of Circuit Cellar magazine) or replaced with a Lego RCX module or your own microcontroller.

Spybotics kits can be found at various toy stores, on Ebay , or can be ordered online at Shop Lego. A software development kit is also available from Lego.com, additional help and information can be found through the Lego Users Group.

Cybiko

The Cybiko is not a robot, but has some other features that make it  interesting for robotics hacking: a built-in RS232 interface, a radio data link giving it the ability to network to other Cybiko's, a flash card slot, a free C compiler, a free SDK and other developer tools.

I had just seen an article about these in the December 2004 issue of Servo magazine, and ran across one at a local ToysRUs. They make a great inexpensive RS232 terminal for robots! Note that there apparently are two models of Cybiko's - the "Classic" (which is the one you want for RS232) and "Extreme" (which has a USB connection).

According to the article in Servo, for using one as an RS232 terminal, you will need a free OS update (very likely), and the SDK, both from Cybiko's web site. You will also need to install VTerm.app and CommPort.dl files from www.devrs.com/Cybiko. All this stuff takes some memory space, so a couple of the games on the unit will have to go... The article in Servo gives an excellent tutorial on how to do this. I installed VTerm on my Cybiko and it works great! What if you have two Cybikos - can you say "How about an RF link for my robot?" Maybe someday I will find the time to figure it out...

Useful Robotics Resources ...

Acroname - Robot kits and components
All Electronics Corp - Surplus and discount electronics parts.
BEAM circuits library - THE source for BEAM robots. BEAM circuit examples and much useful information that could be used for any robot.
BG Micro - Surplus and discount electronics parts.
DigiKey   - A huge selection of electronics components & supplies.
ExpressPCB - Inexpensive custom PC boards. FREE schematic/board layout CAD software.
HVW Technologies Inc - Microcontrollers, motor control, rf remote & development tools.
Images SI Inc - Servo grippers, Dinsmore compass, other useful parts.
Jameco electronics - A huge selection of electronics components & supplies.

Lynxmotion - Robot kits and components.
Mindsensors.com - Sensors for Lego RCX based robots (proximity, acceleration, tilt, I2C, GP2D12, I/O multiplexors).
OOPic - Home of the OOPic microcontroller, free compiler, tech info & example projects.
Oricom Technologies - embedded PIC controllers. 
Oricom Links Index - A HUGE treasure trove of robotics links!
Reynolds Electronics -  Stamp, OOPic, PIC, 8051, rf remote components, projects, and robotics tutorials.
RobotRoom - Much useful information, especially geared toward beginning robot builders.
RobotProjects.com - example projects (many Oopic based).
Robots.net - Robotics news & info - Perhaps the best online source for news articles about robotics! Another one from my "must visit" list...
Parallax Inc - Home of the Basic Stamp, software, robotics kits, other useful parts & information.
PCB123 - Inexpensive custom PC boards. FREE schematic/board layout CAD software.
Portland Robotics Society Mark III Store - Mark III chassis kit, sensors and other useful robotics components (one of my favorites parts sources).
Servo City - Inexpensive mailorder source for model airplane servos and parts.
Servo Magazine - A magazine about personal robotics!
Solarbotics - BEAM robotics resource, some useful components for other robots too (check out their gear motors).
SozBots - 16oz fighting robots. Radio control , motors, other useful parts, construction tips.

Speakjet - A new speech synthesis chip (available thru The BotShop, HVW Tech, Lnynxmotion Speechchips & probably others soon).
Speechchips - Carries several speech IC's (including the Speakjet and the hard-to-find SP0256).
TechToys Today - Many project & code examples (mostly PICmicro). This website belongs to the author of the BEST book on OOPic microcontrollers I have seen thus far "Programming and Customizing The OOPic Microcontroller" ISBN 0-07-142084-3. If you use OOPic's go take a look at this book!
The BotShop - controllers, motor drivers, & sensors (particularily Oopic based).

Some Helpful Reading...

"Building Robot Drive Trains" by Dennis Clark and Michael Owings ISBN 0-07-140850-9
"Build Your Own Humanoid Robots" by Karl Williams ISBN 0-07-142274-9
"Insectronics Build Your Own Walking Robot" by Karl Williams
ISBN 0-07-141241-7
"PDA Robotics" by Doug Williams ISBN 0-07-141741-9
"PIC Robotics" by John Iovine ISBN 0-07-137324-1
"Programming And Customizing The OOPic Microcontroller by Dennis Clark ISBN 0-07-142084-3
"Programming And Customizing PICmicro Microcontrollers by Myke Predko ISBN 0-07-136172-3
"Robots, Androids, and Animatrons" by John Iovine ISBN 0-07-032804-8
"Robot Builders Bonanza" by Gordon McComb ISBN 0-07-136296-7
"Robot Building For Beginners" by David Cook ISBN 1-893115-44-5


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