10 ROLAB SOLUTION | BOOK

No.10 [ Team Work ]
Classification : Book
Name : ROLAB SOLUTION
Date : 2005.07 ~ 2007.01

Overview
We experienced difficulties due to lack of well-organized information while assembling robots in club activities. In order to provide more guidance to juniors in the future, my club members organized and compiled this book named Rolab-Solution on our 3 years of activities. This book contains basic principles of assembling robots and further application. ( approx. 1000pg )

Description
PART 1 = Introduction to Electronics : Fundamental of electric circuit, Electronic parts, Fundamental of Digital system
PART 2 = The C language : Included basic grammar of the C language
PART 3 = AVR128 : Included how to use the internal Registers of AVR
PART 4 = ARM7 : Included how to use the internal Registers of ARM7
PART 5 = VHDL : Included basic grammar of the VHDL
PART 6 = Sensors : Included how to use 15 kinds of sensors
PART 7 = Motors : Included how to use the most common motors
PART 8 = Display devices : Included how to use various display devices
PART 9 = Sound devices : Included how to create various sound devices including MP3
PART 10 = Memory devices : Included how to use the most common memories
PART 11 = Application note : Included a lot of Know-how helpful to making robots
PART 12 = Application circuits : Schematic diagrams of the most common circuits
PART 13 = Application robot : Included the real making processes of several robots including rescue robot

※ All of the parts include schematic diagrams and helpful application sources.

( The parts which I wrote are marked in bold )

- 1st edition in 2005
- 2nd edition in 2006
- 3rd edition in 2007

Activities
1.Utilized as club-member limited published documents

09 MARATHON PRO | Application Robot

No.9 [ Individual Work ]
Classification : Application Robot
Name : MARATHON_PRO
Date : 2006.03 ~ 2006.05

Overview
A robot that distinguishes color by the help of infrared sensors; thus enabling the movement following white line only.

Description
1. Specification
- Weight: 1kg
- Motors: Step motor 2EA
- Used voltages: Motor-16V, Circuit-5V- MCU: AVR 128
- Sensors: Infrared Sensors 8 pairs

2. Functions
- Moves following white line only by the help of infrared sensors.
- Moves with motors' nice acceleration and deceleration.

3. My contributions
- Motor control, sensor signal processing.

Activities
1. It was showed in the annual club exhibition 2006
2. I participated in several line-tracer competitions in 2006

08 Motion Melody | Application Robot

No.8 [ Individual Work ]
Classification : Application Robot
Name : MOTION MELODY
Date : 2006.10 ~ 2006.12

Overview
The sound and dot-matrix displays appear differently depending on its moving directions by the help of a 3-axis acceleration sensor.


Description
1. Specification
- MCU: AVR 128
- Sensors: 3 axis acceleration Sensors
- Mini 2W speaker, 2-color Dot matrix ( 8X8 )

2. Functions
- Users can select one of 2 operating modes
Mode 1 : melody playing mode while keeping beat on the swing ( 3 kinds of melodies )
Mode 2 : different sound depending on direction of swing

3. My contributions
- Motor control, sensor signal processing.

Activities
1. It was showed in the annual club exhibition 2007 and demonstrated in many events.



▶ Mode1: 1st Melody

▶ Mode1 : 2nd Melody

▶ Mode1 : 3rd Melody

▶ Mode2 : Piano

07 MOBOT | Mobile Robot

Download PDF file
No.7 [ Individual Work ]
Classification : Mobile Robot
Name : MOBOT
Date : 2007.12 ~ 2008.04

Overview
A remote-controlled mobile robot which can move in various patterns while avoiding obstacles with the help of sensors.



Description
1. Specification
- Weight: 3.1kg
- Communication system: Blue Tooth RS-232
- Motors: Step motor 2EA- MCU: AVR 128
- Sensors: Ultrasonic Sensors 2EA, Infrared Sensors 5EA

2. Functions
- Can select one of 4 operating modes on the menu.
Mode 1 : Remote Control mode;
Mode 2 : Self control mode;
Mode 3 : Pattern moving mode; (Zigzag or Snail)
Mode 4 : Checking Sensor data mode;
- Melodies and digital sounds under various conditions.
Beep : when detect obstacles
Melodies : play different ones according to modes.

3. My contributions
- System Integration, designed the platform using CAD tools
- Developed a firmware that enables MOBOT to have different modes
( Users can select one of the modes with the buttons and the attached LCD )
- Controlled step-motors, sensor signal processing
- Developed a sound module which uses frequency-control

Activities
1. Participated in National Intelligent Robot Competition 2008.

▶ The 1st version of MOBOT ( 2007 )


▶ LCD Display ( MODE 1 : Remote Control )


▶ LCD Display ( MODE2 : Self-Control )



▶ LCD Display ( MODE3 : Pattern Moving )

▶ LCD Display ( MODE4 : Sensor Test )

▶ Digital Sound

▶ Mode1 : Remote-Control Mode

▶ Mode2 : Self-Control Mode

▶ Mode2: Moving along the wall

▶ Mode3 : Pattern Moving - Zigzag

▶ Mode3 : Pattern Moving - Snail

▶ Mode4 : Sensor Test mode

06 ROBAID-X | Disaster Rescue Robot

Download PDF file

No.6 [ Team Work ]

Classification : Disaster Rescue robot

Name : ROBAID-X

Date : 2005.12 ~ 2006.03

Overview

The scene of disaster is dangerous environment open to secondary disaster. In order to reduce such dangerousness, we developed a remote-controlled caterpillar robot which has the ability to move on uneven surfaces ( including stairs, slopes ) and can produce real-time image and surrounding data for general overview of the scene of disaster. Also, its application can be a mine detecting robot, military robot, night guard robot, fire-fighting robot, etc.

Description

1. Specification

- Weight: 60kg

- Size: 490 x 770 x 520 [mm]

- Communication system: Blue Tooth RS-232 serial communication

- Motors: Geared DC Motor 60W (75:1) 2EA

- MCU: AVR128 6EA

- Sensors: Ultrasonic Sensors 6EA, PSD Infrared Sensors 1EA, Temperature sensors, Humidity sensors, Illumination sensors, TILT sensor( X/Y Axis ), Digital compass Sensors

- ETC: Graphic LCD at the back, Pan-Tilt wireless camera, Shock absorbers

2. Functions

- Primary movement: Driving ( front, back, left, right)

- Other driving mode: Super-fast driving, Going up stairs, Slope driving, Night driving, etc

- Display: Displays real-time environmental data on attached LCD at the back.

Transmits the data to the window of the operator’s PC.

- Remote control : ROBAID-X and its Pan-tilt camera can be controlled by operator’s PC.

3. My contributions

- Designed the platform (H/W) using CAD tools, controlled motors

- Sensor signal processing, designed circuits ( power management circuits )

4. Major Development

- Drive Part: Develops smooth driving with using DC motor / Gear / Caterpillar / Encoder.

- Control Part: Develops an effective transmission method among each part.

- Communication Part: Develops a smooth communication between Robaid-x and PC

- Environmental Information Part: Perceives the environmental data with using Temperature, Humidity, Illumination, Tilt, Infrared Sensors.

- Location Information Part: Perceives location information with using Ultrasonic Sensors, Earth Magnetic Sensors.

- Image Information Part: Transmits the real-time situation through the attached camera.

- Application Software: Controls the robot, checks the current status of the robot, and constructs a general overview of the area through received data.

- Detecting victims algorithm: Creates an algorithm that enables the robot to navigate surroundings and to detect victims for itself.

5. Team members (6)

- Yoon-seok, Pyo ( PL )

Communication part, Control part

- HYUNGJU, PARK

Hardware part, Power-management part, Control part

- Seung-hwan, Shin

Driving part

- Seon-woo, Lee

PC Software part, Image processing part

- Hye-won, Kim

Environmental Information Part

- Eun-hye, Kim

Location Information Part

Activities

1. ROBOT WORLD 2006 in Korea : Disaster-Recue Robot competition

2. Participated in many national intelligent robot competitions

▶ Robaid-X Test

▶ Going up stairs

▶ Going up a slope

▶ Demonstration

05 SPIDER | 6-legged

No.5 [ Individual Work ]
Classification : 6-legged robot
Name : SPIDER
Date : 2005.07 ~ 2005.08

Overview
A six legged robot that can avoid obstacles by the help of sensors in which the wireless control was enabled by a common TV remote control.

Description
1. Specification
- Weight: 0.6kg
- Communication system: Infrared communication ( IrDA )
- Motors: Hitec HS-131
- MCU: AVR 128
- Sensors: ultra sonic sensor 1EA, infrared sensors 4 pairs

2. Functions
- Primary movement: Walking ( front, back, left, right)
- Self-movement: Avoiding obstacles using ultrasonic sensors and infrared sensors.

3. My contributions
- Motor control, sensor signal processing, decoding TV remocon code

Activities
1. It was showed in the annual club exhibition
2. Participated in many robot demonstration events


▶ The back side of SPIDER


▶ The main circuit of SPIDER


▶ With me



▶ Walking

▶ In the outside

▶ Avoiding obstacles

04 LAON | Humanoid

Download PDF file
No.4 [ Team Work ]
Classification : Biped Humanoid
Name : LAON
Date : 2007.04 ~ 2008.04

Overview
LAON was developed using voice recognition and playing MP3 file for enhanced interaction with people by
allowing simple conversation and be controlled by voices. Its movement is conducted according to its
surroundings and automatic getting up after falling is enabled through the sensors.

Description
1. Specification
- Weight: 4.4 (kg)
- Number of Degree of Freedom: 22 DOF
- Communication system: Blue-tooth
- Motors: Robotis RX-64, DX-117
- MCU: AVR 128- Sensors: Gyro sensors, Tilt sensors, PSD Sensors 2EA

2. Functions
- Primary movement: Walking(front/back/left/right)
- Movement for fight: Fight(front/back/left/right), Defense,
- Performance: Dance, Kicking a ball, Introducing itself
- Self-movement: Adjusting its posture using Tilt-sensor, Automatic getting up when falling down

3. My contributions
- System Integration
- Developed walking algorithms using ZMP ( Zero Momentum Point ) and Inverse Kinematics
- Built an MP3 module that can be used in humanoid robots

4. Team members (2)
- Hyung-ju, Park (PL)

- Hyun-jun, Kim

Activities
1. Bronze Award in IEEE International Intelligence Robot Software Competition 2007
2. 2008 Korean ROBO-ONE competition quarter finalists and participated in various competitions


▶ With a smaller robot of our club


▶ Bowing Laon


▶ Introducing himself with his own voice


▶ Kicking a ball after deciding which side it is placed at through sensors

▶ Walk Forward / Backward

▶ Walk Right / Left side

▶ Dance

▶ Interview on TV News

03 KR-1 Blast | Humanoid

No.3 [ Individual Work ]
Classification : Biped Humanoid
Name : KR-1 BLAST
Date : 2006.07 ~ 2007.01

Overview
A middleweight intelligent biped robot assembled using torque exceeding 60kg of 20 RX-64 motors (approx. $10,000) funded by the government. It can go through a maze on its own, able to run while keeping distance from the walls, automatically getting up is possible through the sensors.

Description
1. Specification
- Weight: 4.4 (kg)
- Number of Degree of Freedom: 23 DOF
- Communication system: Blue-tooth
- Motors: Robotis RX-64, DX-117- MCU: AVR 128
- Sensors: Gyro sensor, Tilt Sensor 2EA, PSD Sensor 6EA

2. Functions
- Primary movement: Walking(front) 6 kind of algorithms, Walking(back), Walking(left/right),
- Movement for fight: Fight (front/back/left/right), Defense,
- Performance: Dance, Going up stairs, Archery, Rope skipping, etc.
- Self-movement: Going through a maze, Running while keeping distance from the walls, Automatic getting up when falling down

3. Major Development
- Designed the platform (H/W) using 3D cad tools
- Developed firmwares that enable real-time motion through RS232 serial communication
- Controlled motors, developed walking algorithms using ZMP ( Zero Momentum Point ) and Inverse Kinematics

Activities
1. Robot demonstration on many TV programs
2. Competed in Korean ROBO-ONE Champion Finals
3. Ubiquitous Robot Competition 2006 on “Robo-Champ” of Korean Broadcasting System
( 5th place in Qualifications, and 6th in Main Tournaments )
4. Robot World 2006 Robot dance 1st place in main tornament


▶ 3D CAD Design


▶ Cover model on a famous robot magazine

▶ Appeared on KBS URC 2006 TV Program

▶ Appeared on M-Zone Internet TV program

▶ With robots of our club

▶ My working environment and KR-1 Blast

▶ Practicing going through a maze with sensors only

▶ Appeared on an Internet TV progam

02 KR-1 | Humanoid

No.2 [ Team Work ]
Classification : Humanoid
Name : KR-1
Date : 2005.11 ~ 2006.05

Overview
Designed the body that minimized the number of aluminum frames to lower the weight and used Robotis company’s Smart actuators.
KR-1 took 1st place in many robot competitions in 2005.

Description
1. Specification
- Weight: 2.8 (kg)
- Number of Degree of Freedom: 23 DOF
- Communication system: BlueTooth Wireless
- Motors: Robotis DX-113, DX-117
- MCU: AVR 128

2. Functions
- Primary movement: Walking(front/back/left/right), Turning(left/right),
- Movement for fight: Fight(front/back/left/right), Defense, Roll(front/back/left/right)
- Performance: Dance, Going up stairs, Picking up a cup, Kicking a ball

3. My contributions
- Designed the platform (H/W) using CAD tools
- Developed firmwares that enable real-time motion through RS232 serial communication
- Designed circuits

4. Team members ( 2 )
- Yoon-seok, Pyo ( Project Leader )
- HYUNGJU PARK

Activities
1. Seoul National University of Technology Robot Festival 2nd place
2. KISTI invitation to iGrid2005; demonstration contents ; robot performance
3. Advanced to the round of sixteen of The International Robo-One Competition 2006
4. 1th in Qualification in Korea Robot War 2006
5. Humanoid contest on “Robot Power” of Korea Educational Broadcast System

▶ Appeared on a Korean magazine


▶ EBS ROBOT-POWER TV



▶ 2006 International ROBO-ONE competition



▶ SNUT Robot Festival 2005



▶ Gwang Band Music video

▶ The ROBO-ONE Grand Prix 2006 on TV

▶ Interview on a TV program

01 ROLABCOP | Humanoid

Appeared on China's ChingDao News in September, 2005

Appeared on the Internet News in August , 2005

Rolabcop and 815 took 2nd place in RUF2005 Robot Dance !!

No.1 [ Individual Work ]
Classification : Biped Humanoid robot
Name : ROLABCOP
Date : 2005.07 ~ 10

Overview
The first biped robot I built using Bioloid-kit from ROBOTIS company using Robo-cop concept. It is able to perform various actions including walking, gymnatics, and fighting.

Description
1. Specification
- Weight: 1.8 (kg)
- Number of Degree of Freedom: 19
- Communication system: ZigBee
- Motors: AX-12
- MCU: AVR 128

2. Functions
- Primary movement – Walking(front/back/left/right), Turning
- Movement for fight – Fight(front/back/left/right), Defense, roll
- Performance – dance, exercising motions, etc.

3. My contributions

- Developed a firmware that enables real-time motion through RS232 serial communication

- Controlled motors

Activities
1. Robo-one Humanoid robot competition in Mania Festival 2005
( 4th place in Qualifications, and 9th in Main Tournaments )
2. Demonstrator in China invitational ROBO-ONE competition of WEF2005
3. 2nd place in Robot Dance competition of the Robot Universiade Festa 2005

4. Demonstrator in the 4th Gwang-ju Science Fair sponsored by Gwang-ju Board of Education

▶ ROLABCOP at a competition

▶ Rolabcop & 815 's double dance