# Title Team Members TA Documents Sponsor
24 Smart Closet
Luchuan Zhang
Yiwei Li
Luke Wendt design_document0.pdf
The problems: It's hard for people to organize their clothes in traditional closet, and easily forget which clothes they already have when they want to buy new clothes online or in store. Forget which clothes should do laundry.

Existed solutions: Mostly are customized traditional closets. Some smart closet apps need users to take pictures and upload, too time-consuming. And these apps do not associated with users' closets.

Our solution: The closet will take pictures of any new add clothes. It will count the days you worn each clothes and display on the phone. It can indicate which clothes to pick and to wash by different color of LED on clothes hanger and notice you when the laundry basket is full.

Hardware: A motor controlled rotatable rack. On the rack there are around 20 gates to place clothes, each gate has a number assigned. A control panel (micro controller is expected) decides how long rack should rotate, when to photo, and use WiFi to connect with phone. A photo booth aside. LED system to indicate which clothes to pick also controlled by micro-controller. Weight sensor to measure the weight of laundry basket also linked to controller. This micro-controller may infer to Raspberry Pi.

Software: Phone app. Each clothes has a database: type, picture (new clothes will have no picture), number of the gate (will be assigned a new number if put in again and will be null if clothes is outside of closet), status of need photo or not, and worn days. App will send the specific gate number to the control panel, and all the information control panel get will be updated on the phone.

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

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