Branchiating Robot

Summary:

Collaborated in the design and programming of a brachiating robot, focusing on developing control algorithms for its articulated arms to extend, retract, elevate, and lower through a graphical user interface (GUI)

Role and Responsibilities:

• Co-led the design and implementation of the robot's mechanical and control systems
• Developed and tested control algorithms for arm articulation
• Developed the computer vision algorithm for enabling the robot to move autonomously (Unsuccessful )

Skills and Tools Used:

• Programming: Python, C++
• CAD Software: Onshape
• Microcontrollers: ESP32-CAM
• Sensors: ESP32 camera
• Tools: 3D printers, laser cutter
• Software: MATLAB, Arduino IDE

Problem Statement:

The objective was to create a robot capable of mimicking the brachiation movement of primates, which involves swinging from one handhold to another

Solution Approach:

• Design: Created detailed CAD models of the robot's body and joints in Onshape, ensuring flexibility and strength
• Included articulated joints to simulate the swinging motion.
• Designed with modular components for easy adjustments and improvements
• Control Algorithms: Developed algorithms to control the movement of the robot’s arms
• Kinematics and Dynamics: Calculated the kinematics and dynamics of the arm movements to ensure smooth and accurate motion
• Control: Implemented a user-friendly control code to enable user to manage the positioning and velocity of the arms
• Integration and Testing: Programmed the microcontroller (ESP32-CAM) to handle real-time data from Camera sensor and execute control commands
Results and Impact:
• Successfully created a functional prototype that demonstrated smooth and controlled brachiation movements
• Enhanced understanding of kinematics, control algorithms, and user interface design.
• The project presented some of the challenges of computer vision with dynamic systems and using a single camera, including lighting, depth perception and localization

Reflection:

This project enable me to see the challenges of implementing a dynamic autonomous system using sensors such cameras. Previously I had used camera in robotics systems for tracking or recognition. the idea for this project was to use the camera to measure the distance of the robot from the “branches” and use this information as well as other information from other sensors to make the optimal decision to finish the parkour as fast as possible