Building A Robotic Platform for Vegetated Environments

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Building A Robotic Platform for Vegetated
Environments
GROUP NO 03

• Group Members-
• Subasinghe S.A.A.M
• Thilakarathne A.H.C
• Sagara W.P.S
• Amarasinghe H.A.P

Supervised By- Dr. Thrishantha Nanayakkara Dr.
Lanka Udawaththa
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Challenge

• Vegetated Environments

• Is it a walk in the park?

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Objectives

• Primary Objective
• To Move around where even we cant
• Ultimate Objective
• Spy Enemy Movements

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How to do this

• Brain Storming
• Internet Resources
• Options
• Hopping
• Crawling
• Flying

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Hopping

• Ethologically Guided Designing..
• Kangaroo
• Grasshoppers
• Hopping Robots under research..
• Bow legged hopping robots-CMU MIT
• Sandia National Labs

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Practical Problems

• Against the Wall-
• Taking off and Landing
• Precise Stepping Motion
• Path Correction
• Modeling of terrain
• Unripe technology

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Crawling

• Ethological Examples
• Snakes
• Iguanas
• Robots under Research
• OmniTread - Michigan University
• Snakebot Nasa
• KOHGA the rescue robot

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Ups and Downs

• Motion Implementation (High DOF)
• Tracking Problems
• High stability
• Good terrainablity
• Sealed exterior

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Why SNAKES?
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Further Analysis..

• When the Going gets Tough

• Behavior Selection
• Linear Motion
• Wheels or Belts
• Belts
• Making Turns
• Separate driving
• Stability
• Special Design
• Synchronization
• Centralized control
• Tracking Mechanism
• GPS

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Project Time Line
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3-D Visual Simulation..
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Wheel Designing
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Construction Begins..

• Finding Materials..
• PP
• Learning Machines
• Lathe
• Milling
• Practical Issues
• Slipping
• Experience Confidence

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Future Goals

• Completing the first segment
• Testing it in different Terrains
• Completing the Prototype
• Implementing the tracking system
• Behavior co-ordination of the robot
• Designing a Human Identification System

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THANK YOU!
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How Snakes Move?