Continuing your Project

Description

Groups that wish to continue their projects are encouraged to sign up for Undergraduate Independent Study: ECE 396, ECE 397, ECE 497, or ECE 499.

Funds of up to $500 are available in order to defray project expenses. These funds have been generously provided by the ECE Alumni Fund and may be used for materials and supplies, equipment, computer software, etc. Funds may not be used for salaries or wages. Purchases may be made through the ECE Business Office, ECE Stores or reimbursement of personal funds with proper documentation. More information will be provided upon approval.

Please see the Undergraduate Independent Study Funding page for more details.

The Leung Fund provides another avenue for obtaining funding to continue a project conceived of in ECE 445. Prior projects have also continued through various programs in the College of Engineering's Technology Entrepreneur Center programs, including the Cozad New Venture Competition.

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

https://courses.engr.illinois.edu/ece445/pace/view-topic.asp?id=30338

Project Videos