ESG Lego Robotics Seminar
Project List:
(this is a generally self-paced class, so you can go ahead if you
finish something or take extra time if you want- don't worry too much
about the
"Week 1", "Week 2", etc... labels)
Week 1 - "Our friend the Lego"
- introduction, ground rules, expectations, etc...
- how to build with legos
- how gear trains work and how to build them
- PROJECT: build a good gear train with a geardown
of 125:1 or greater
Week 2 - "Cruisin'"
- intoduction to motors (turn them off if they stall, note that
they don't fit perfectly), batteries (low internal resitance-
be careful), switch board (the diodes get hot, explain why
the diodes are there)
- PROJECT: build a fast-moving vehicle
(must carry batteries, switch)?
Week 3 - "Torqued Out"
- possible exploration: test different lego wheels for
comparative static/rolling coefficients of friction
- PROJECT: build a car that can climb a steep slope
(must carry batteries, switch)? (1 motor)?
Week 4 - "Steering"
- talk about different ways to steer.
- PROJECT: build a car that can steer (can use more than
one motor)
Week 5 - "A New Beginning" (and a catch-up Week)
- PROJECT: build the base robot to be programmed in later
Projects (leave space for shaft encoders)?
Week 6 - "Interaction"
- introduction to Interactive C
(extra help for people who've never programmed)
- Suggested Reading: In the 6.270 book (in metal cabinet):
Chapter 6, sections 6.3, 6.4.1, 6.5.1-6.5.3, 6.6, 6.7, 6.9.1-6.9.4
- check out the programming logistics
for details on how to run stuff.
- PROJECT: write, load, and execute a few simple IC programs on a
board (doesn't need to be connected to your robot).
- Program 1: write a program to:
- Print a message on the LCD screen.
- Turn on a motor, full speed.
- Wait a few seconds.
- Print the value of an analog sensor.
- Wait a few seconds.
- Turn the motor off.
- Wait until a digital sensor is pressed,
then print a goodbye message on the LCD screen.
- Program 2: write a program to:
- Print a message on the LCD screen when it first starts up
- Continuously print out the reading of an analog sensor
- If a specific digital switch is hit, the program should
- Print some different message (stop printing the analog sensor)
- Turn on a motor for 5 seconds, off for 2 seconds, and on at
half speed for 5 seconds.
- Return to printing out the analog sensor reading
- If a different digital switch is hit, the program should print
a goodbye message and exit.
- possible exploration: test sensors with board.
Week 7 - "Analog Steering"
- PROJECT: Write a program that lets you steer your robot with a
hand-held potentiometer (analog sensor)
Week 8 - "Feedback"
- PROJECT: Write a program to control the big lego servo motor
with maximum accuracy and speed and minimum twitch. Ask a tutor for
details.
Week 9 - "Roby the Robot"
- PROJECT: build robot that wanders area, backing up
if it encounters an obstacle. Use digital sensors.
Week 10 - "Dead Reckoners"
- explain shaft encoders
- PROJECT: build a robot to go a specified distance
using shaft encoders
Further projects:
In the remaining time in the semester, pick some projects from the
list below that interest you, or make up things you want to do and
propose them to me.
more Mechanical projects
- Build a grasping extension (robot hand, spear, scoop, etc...) and
motorize it. Add sensors so it can tell when it has grasped
something. Can you lift/drag a piece of wood? A foam ball? A battery pack? Another robot?
- (extension of previous) Build a system that enables your robot to
pick up and carry multilple foam blocks with holes in them (see sample
in lab). This is the typical 6.270 task.
- Build a robot with a two-speed transmission, either gear-shiftable
by hand or by the board.
- Build a robot utilizing servos for steering.
- Build a robot that moves as silently as possible. You probably
want to use some pulley/rubber band drives, and maybe chain drives. This also involves
thinking about where you want different gear downs.
- Build a robot that stores energy in some source (rubber bands,
spring, potential energy, etc...) and can release it all at once to,
say, catapult a projectile. Extra points if you can hit the tutor from
across the room.
more general Robotics projects
- Build a robot that can follow a black line on the floor (using
reflectance sensors, probably). The robot should detect when the line
turns and turn appropriately.
- (extension of previous) Build a robot that can wander a web of
black lines on the floor (always following a line, picking random
branches when the line forks (or always going left, etc...)
- Build a robot that follows/avoids a flashlight beam.
- Build a robot that tracks and follows an IR beacon [electronics
for this project not working yet].
- Build a robot that follows a wall using bend sensors to maintain
constant distance and orientation.
- Build a robot that makes use of a tilt sensor. Ideas: A robot that
can drive right-side up or upside-down, and always drives in the right
direction, a robot that increases power to the motors when climbing a slope.
- Build a robot that navigates a maze with wood/cardboard walls (many possible methods).
more Electronic type projects
- Learn to solder- If you want, I'll show you how to solder, how to
look at other people's soldering jobs and tell if they're good, and how
to use heat shrink tubing. You can wire up a sensor or a motor.
- Learn to stuff- "stuff" is the technical term for "assembling a
printed circuit board and components" (i'm not kidding). You can
assemble some small circuit like an infrared beacon or a
light-triggered switch and then use it on your robot [this project not
ready yet].
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