Hexotica - The Design and Implementation of a Small Walking Robot

Table of Contents

Foreword

Summary

Conclusions and Recommendations

1. Introduction

• 1.1 Motivation

2. Leg Design

• 2.1 Leg Design Alternatives
• 2.2 Kinematic analysis
• 2.3 Workspace
• 2.4 Detailed Design and Realization
• 2.5 Mechanical Problems

3. Hardware Control System

• 3.1 Introduction
• 3.2 Control System Criteria
• 3.3 Architecture Overview
• 3.4 Parallel Interface Design
• 3.5 The SmartCore Microcontroller
• 3.6 High Speed Serial Network Hardware

4. Leg Control Board Design

• 4.1 Functional Description
• 4.2 Addressing Hardware Devices
• 4.3 Digital Inputs
• 4.4 Digital Motor Control
• 4.5 Analog to Digital Conversion
• 4.6 Other Features

5. PCB Design Guidelines

• 5.1 Grid, Pad and Trace Sizes
• 5.2 Layout Spacing Conventions
• 5.3 Noise Interference

6. Robot Control Scheme

• 6.1 Low-Level Control of Foot Trajectory
• 6.2 High-Level Control of Robot Motion

7. Software Design

• 7.1 Software Architecture
• 7.2 Software Simulation

8. References

9. Appendix A - Kinematic Calculations

10. Appendix B - Application Files

• 10.1 ADC setup
• 10.2 Low level leg control
• 10.3 High level leg control
• 10.4 Motor control
• 10.5 TIA/EIA-485 (RS485) Master-Slave networking

11. Appendix C – Software Libraries

• 11.1 ADC.LIB
• 11.2 ERROR.LIB
• 11.3 LEG.LIB
• 11.4 LEG_INFO.LIB
• 11.5 MOTOR.LIB
• 11.6 MSG.LIB
• 11.7 RIPPLE.LIB
• 11.8 TRIPOD.LIB

12. Appendix D - Schematics

• 12.1 SmartCore Board

13. Appendix E – PWM Specification

• 13.1 Abstract
• 13.2 Required Operation
• 13.3 Microprocessor Platform
• 13.4 State Diagram
• 13.5 Assembly Code

14. Appendix F - Simulation File Listing

15. Appendix G – Sonar Tips

• 15.1 Ultrasonic Echolocation
• 15.2 Design Issues

16. Appendix H – CAD Drawings

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