|1||Dynamic Legged Robot
|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:
|2||Midi Sequencer with Linear Motorized Potentiometers
|Nathan Zychal (nzycha2)
Devin Alexander (dbalexa2)
Martin Lamping (mdl3)
Skot Wiedmann offered to mentor us.
A sequencer that provides musicians with a new, fast way to prototype melodies and chords. User inputs will be used to control sixteen potentiometers position. The potentiometer position and voltage (read by an ADC) correspond to frequencies (output in MIDI data). Discrete positions will be encoded so that the potentiometers physically move to a position of the nearest frequency corresponding to a note. Another quantization parameter could allow for the selection of notes in a certain key (e.x. C Major, F Minor, Chromatic, etc.). These quantization parameters give additional user feedback to compose the melody.
Our project is an innovation to a pre-existing idea. We will add motorized potentiometers to control sequences of notes that can be played either sequentially or together as chords. Currently the market does not offer a similarly configured device.
The project will include but is not limited to 16 motorized linear potentiometers. Rotary encoders and push buttons, will set initial pitches, set root notes of a key, and set the scale. Relevant setting information will be shown on an LCD display. Each motor will be paired with a motor controller (dual H-bridge design). The sequencer will need to have a specific voltage (depending on the logic), additionally each motor will need to be supplied 12-15 Volts.
Sound will output when the MIDI output of the sequencer is input to either a hardware synthesizer MIDI Input or a software synthesizer in a DAW (Digital Audio Workstation). The clock frequency of the sequencer could be set locally or by an external device. When not generating its own clock signal, it would have to be synced with any external devices or DAWs via a MIDI input on the sequencer to maintain the same tempo to avoid synchronization issues.