Project

# Title Team Members TA Documents Sponsor
2 Terrain-adaptive bipedal service robot
 Binhao Wang
Gaokai Zhang
Yuan Zhou
Zihao Ye
 design_document1.pdf
final_paper1.pdf
proposal1.pdf
video1.mp4
 Liangjing Yang
# Description
Considering the high complexity and weight of existing legged robots, it is difficult to put them into practical applications on a large scale. Therefore, our project will develop a 6-DOF biped robot using a low-cost, torque-controlled actuator module with brushless motors. Built with 3D-printed and off-the-shelf parts, this lightweight, replicable robot leverages reinforcement learning for precise terrain adaptability, making it ideal for applications like transport and filming.
# Deliverables
- In this project, we aim to complete 3D printing of parts and procurement of motors and other necessary components, followed by full assembly of the biped robot.
- We will also finish the implementation and integration of control and communication circuits, with successful firmware deployment.
- Besides, we will complete the training of a neural network for walking control in a simulation environment to achieve stable and adaptable movement patterns.
- Finally, we will exert the deployment of the trained model through a computer-based communication interface, enabling real-time control and adaptability across various terrains.

Seat U: Sensing System for Real-time Library Seat Occupation Detection

Jiayuan Huang, Hangzheng Lin, Jiaqi Lou, Hanyin Shao

Featured Project

# Problem

During the exam week, it is very difficult to find a seat in the library. Sometimes students cannot find a satisfying seat even if they walk through the library all around. Some students complain about unknown traffic in the library. For more convenient library seats seeking, students would like to know which other seats are empty ahead of time in order to decide whether they will go to the library and where to find available seats.

# Solution Overview

We will design a sensor-based device for each table to detect occupancy. The occupancy data will be uploaded through wifi to the cloud. There will be three states for each seat: occupied by people, occupied by items, or unoccupied. Then we will design an APP to visualize these data.

# Components

## The sensing subsystem:

• Data preprocessing and WiFi module to transfer data (ESP32)

• Multi-kinds of sensors to detect objects and collect data

• Wired power supply to support long-term real-time detection

## Human-computer interaction subsystem:

• Database server to store the collected data

• APP on the phone that allows clients to check the status of library seats

• It can indicate whether the seat is occupied with people (reserved by personal items), occupied without people, or available

# Criteria of Success

• Classify three different states of seats (occupied by people, occupied by items, or unoccupied)

• The accuracy of detecting whether a seat is reserved by items is above 90%

• The accuracy of detecting whether a seat is occupied by people is above 95%

• The sensor-based device APP is user-friendly and accurately visualizes the seat occupation

• The states of the seats get updated every 1 minute in the APP

• Adaptive to different kinds of table in the library (flexibility)

• Implement the database server bidirectionally: upload data from the device and download data to the APP