Project

# Title Team Members TA Documents Sponsor
24 Robotic microphone stand
 Dennis Yuan
Freddy Gomez
 Igor Fedorov appendix0.rar
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A music producer in a studio environment must ensure that the sounds he is recording are of the highest quality. This is highly dependent on microphone position, but in many cases the producer may find it inconvenient to move the microphone by stepping back into the recording booth to adjust the positioning. Another issue is that the producer might not be able to compare the quality of the previous configuration and the new configuration. The audio memory of an average person is around 30 seconds, so the comparison is already lost by the time the producer comes back out to check the sound quality of the new microphone position. We intend to build a remote controlled robotic microphone stand that has the ability to translate a microphone in three dimensions. It will move along tracks located in the base of the stand, and also be able to store and recall microphone configurations set by the producer. The producer will control the robotic stand wirelessly via Wifi or bluetooth (TBD) on a computer.

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

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