Project

# Title Team Members TA Documents Sponsor
27 A DodgeBot System
 Chiming Ni
Feiyang Wu
Kai Wang
Nichen Tian
Yiyang Bao
 design_document1.pdf
proposal1.pdf
 Timothy Lee
A DodgeBot System
Team Members:

Kai Wang (kaiwang6)
Nichen Tian (nichent2)
Feiyang Wu (fw14)
Chiming Ni (chiming2)
Yiyang Bao (yiyangb2)
Problem
Dodge ball is one sport that require people to throw ball to each other and the one who got hit loss the game, which means that this game can not be played alone. However, sometimes athletes may want to take trainings to enhance their skill without compainions.

Solution Overview
Our solution is to create a dodgebot that act as another player. The dodgebot has a shooter that shoot the dodge ball towards the human player who is captured by the robot camera and detected and tracked by on bot artificial intelligence. When the ball is thrown towards the robot, the movement of the incoming ball is also captured by the camera and the dodging system will take contorl of the robot movement to avoid the collision.

Solution Components
Dodge Ball Shooting System
3-DoF Gimbal Design

Pitch Axis: DJI GM6020 motor + linkage mechanism (30° range).

Yaw Axis: Unitree servo motor (360° continuous rotation).

Launch Mechanism: High-speed pneumatic cylinder + pusher plate.

Actuation

Compressed air (0.5MPa) or Friction wheel drive

Adjustable launch angle to achieve 2 m/s initial velocity and 1.2m launch height.

Human Pose Estimation, Tracking and Dodging System
Jetson Nano (Or other edge computing platform counterpart)

A camera to detect people

Deep neural network trained to estimate human pose and detect incoming balls

Tracking system that output motor joint angles to the shooting system

Decision system that decide the direction of movement to avoid ball collision

Criterion For Success
The dodge ball shooting system must be shoot with a appoximately 2m/s initial velocity and be able to hit a person.

The human pose estimation and tracking system should be able to estimate human pose with a camera and track movement of the person with higher than at least 60% accuracy. The system should also output the correct angles for the motors to execute.

The dodge system should be able to move the hit dector at 2 freedom degree to avoid hit from a non-proficient human player.

Cypress Robot Kit

Featured Project

Cypress is looking to develop a robotic kit with the purpose of interesting the maker community in the PSOC and its potential. We will be developing a shield that will attach to a PSoC board that will interface to our motors and sensors. To make the shield, we will design our own PCB that will mount on the PSoC directly. The end product will be a remote controlled rover-like robot (through bluetooth) with sensors to achieve line following and obstacle avoidance.

The modules that we will implement:

- Motor Control: H-bridge and PWM control

- Bluetooth Control: Serial communication with PSoC BLE Module, and phone application

- Line Following System: IR sensors

- Obstacle Avoidance System: Ultrasonic sensor

Cypress wishes to use as many off-the-shelf products as possible in order to achieve a “kit-able” design for hobbyists. Building the robot will be a plug-and-play experience so that users can focus on exploring the capabilities of the PSoC.

Our robot will offer three modes which can be toggled through the app: a line following mode, an obstacle-avoiding mode, and a manual-control mode. In the manual-control mode, one will be able to control the motors with the app. In autonomous modes, the robot will be controlled based off of the input from the sensors.