PeterBot

Summary

The ENGRMAE151A/B project connects to Professor McCarthy’s educational and research goals by building on what is taught in his computer aided mechanical design course (ENGRMAE 183). In that class, the focus is on creating detailed walking robots, and now we are taking it a step further by updating a pre-existing robot design to include LIDAR-guided navigation. Our main goal is to apply LIDAR to allow the robot to sense its surroundings and move autonomously. Through this project, we are gaining hands-on experience in mechanical design, fabrication, and creating control systems, as well as contributing to ongoing research on how LIDAR can enhance robot accuracy and performance in real world environments.

Background

LIDAR (light detection and ranging) is a method of detecting and ranging by shooting out light and measuring the time it takes for the reflection to return to the sensor; this technology is used in a wide amount of applications, from archaeology to military applications, but one of its largest uses is in building autonomous systems. We are going to use LIDAR to allow PeterBot to sense its surroundings, make judgments about its plan for movement, and act accordingly.

Our chassis will be derived from modified designs created in our sponsor  J. Michael McCarthy’s course ENGRMAE 183, which focuses on designing and manufacturing full-scale robots to display walking locomotion. PeterBot will be the result of expanding upon these foundations, and combining both technologies to develop an autonomous walking robot.

Goals and Objectives

The primary goal of this project is to transform the existing MAE 183 walking robot into a fully autonomous walking robot that can independently sense, navigate, and move through its environment using LIDAR. While mechanical design is important, the sponsor emphasizes that the true purpose is to create a robot that can walk on its own, recognize landmarks, avoid obstacles, and reach a target location without human control. 

Our objectives are divided across two quarters. During fall quarter, our focus is on building the foundation of the robot: creating a complete CAD model, selecting a design theme, generating a parts list, performing motion analysis, constructing the physical robot, creating the wiring diagram for core electronics, and programming the walking gait with Bluetooth motor control. In the winter quarter, we will shift to autonomy by integrating the LIDAR scanning system, creating the LIDAR wiring diagram, developing navigation logic that uses sensor data for obstacle detection and path planning, and validating the robot’s performance through a custom obstacle course to demonstrate full autonomous navigation. 

Manufacturing Processes

PeterBot will require a few different types of fabrication and manufacturing processes in order to reach completion. We plan to utilize a fully 3D-printed gear train, powered by motors to operate the leg linkages. For the production of the linkages and chassis, we are currently deciding between laser cutting and 3D printing, in order to reach the precision and quality that is required for robustness and ease of fabrication. We will be utilizing an Arduino Uno for our microcontroller, and will be soldering and running our own wiring for the sensors and electronics.

Team Contact:  

Erika Guardamondo | eguardam@uci.edu

Parker Lennig | plennig@uci.edu 

Cameron Bustillos | bustillc@uci.edu

Nathan Tran | nathanrt@uci.edu

Julian Perez | julianp4@uci.edu

Sponsor/ Advisor: 

John Michael McCarthy| jmmccart@uci.edu