Tote bot

[Mschmeh144]

As my final project for this year, we are going to take a small grey game tote and turn it into a robot that pulls the " weeping angel" on you. For those who don't know what that is, basically, it'll follow you around and when you turn around it'll freeze in place, or drop to the ground and not move,depending on how complicated I want to make it. Dropping to the ground will require pneumatics parts that we don't have. It will look pretty much the same as a regular tote when its finished. Except with wheels, of course. Any ideas or helpful hints as to what I should use would be greatly appreciated. I am going to be using the old cRIO four slot and the old control system parts. The only problem is the drive system. The rest I can handle.

[JamesCH95]

Originally Posted by Mschmeh144

As my final project for this year, we are going to take a small grey game tote and turn it into a robot that pulls the " weeping angel" on you. For those who don't know what that is, basically, it'll follow you around and when you turn around it'll freeze in place, or drop to the ground and not move,depending on how complicated I want to make it. Dropping to the ground will require pneumatics parts that we don't have. It will look pretty much the same as a regular tote when its finished. Except with wheels, of course. Any ideas or helpful hints as to what I should use would be greatly appreciated. I am going to be using the old cRIO four slot and the old control system parts. The only problem is the drive system. The rest I can handle.

I seriously doubt that this function will "require" a pneumatic system. I am sure that you'll be able to come up with at least four different ways to do this without pneumatics. Don't limit yourself!

If you could describe what drive system components are available to you it might help you get more useful advice, and you might figure out something on your own. So, what do you have?

[Loose Screw]

If you're planning on using pneumatics, I would reccomend using 1/2" stroke pistons to raise/lower your drive train. If you're really going for the Weeping Angel feel, you should add air restrictors to control the speed of the pistons. Nothing ruins the mood of being silently watched when you hear puffs of air and a tote clanking to the ground.

Staying in the mind of a weeping angel, you should either disable the compressor when stalking, or use an off-board compressor. You shouldn't need that much psi to lift the tote, and with enough tanks you won't need to recharge for long periods.

When it comes to building a totebot, you should ask the guys who made the one previously shown of CD.

[GreyingJay]

For this project to be effective you want the thing to be as silent as possible while moving, and make it look as much like a regular, unassuming tote as possible. I'm picturing rubber wheels that touch the ground via cutouts from the bottom of the tote.

How does it detect when you turn around? Face recognition?

I like the idea by the way. I hope you post a video of it when you're done.

[JamesCH95]

I wouldn't think of "raising and lowering the drive train" but instead I would think of "raising and lowering the tote."

Here is a masterfully done CAD rendering of an idea: http://imgur.com/4ebNHBF

Use a winch in the middle, some cable, and some pulleys, to hoist the tote up around the drive base, and then set it down. All motor-driven, no drive articulation, and you could easily take all of the robot guts out of the tote to work on them.

[Peyton Yeung]

There were 2 tote bots at the Indiana District Championship and neither articulated. Both could sit still and appear to be resting on the floor.

[Mschmeh144]

Originally Posted by JamesCH95

I seriously doubt that this function will "require" a pneumatic system. I am sure that you'll be able to come up with at least four different ways to do this without pneumatics. Don't limit yourself!

If you could describe what drive system components are available to you it might help you get more useful advice, and you might figure out something on your own. So, what do you have?

Currently, I have the full control system assembled, two talon sr controllers,as many cim motors as I could ever need, and pneumatics parts, and of course, the tote. We have several types of wheels. The only limit is the drivetrain itself, I may be limited to just 2 CIMple box gearboxes.

Also, if I get the time I'll program it to make mouse noises like squeaks and yips as it moves around.

[Mschmeh144]

Originally Posted by GreyingJay

For this project to be effective you want the thing to be as silent as possible while moving, and make it look as much like a regular, unassuming tote as possible. I'm picturing rubber wheels that touch the ground via cutouts from the bottom of the tote.

How does it detect when you turn around? Face recognition?

I like the idea by the way. I hope you post a video of it when you're done.

The face recognition will be a problem of course
However you are correct on the cutouts, I was planning on doing that. And yes, it must be as quiet as possible. It also needs to have restraint so there isn't a insane box chasing everyone around

[ratdude747]

Originally Posted by Peyton Yeung

There were 2 tote bots at the Indiana District Championship and neither articulated. Both could sit still and appear to be resting on the floor.

^This. The trick was ground clearance, something neither had much of. In one case (the 868 one) there IIRC was some suspension so at least it had a chance if it got stuck on something... the other (the 3940 one) had a solid mecanum drivetrain that did get stuck on the scoring platforms a few times the one practice match it was used in (as a "50 point bonus if you catch it" prank on 3940).

[JamesCH95]

Originally Posted by Mschmeh144

Currently, I have the full control system assembled, two talon sr controllers,as many cim motors as I could ever need, and pneumatics parts, and of course, the tote. We have several types of wheels. The only limit is the drivetrain itself, I may be limited to just 2 CIMple box gearboxes.

Also, if I get the time I'll program it to make mouse noises like squeaks and yips as it moves around.

In your shoes I'd run 2x cimple boxes wiht 1 cim each and with the stock reduction to 2WD. Simple, light, reliable. Put a caster wheel or skid (or omni-wheels) in the "back" where your two driven wheels are not and make sure your battery is near your driving axle.

[GreyingJay]

Originally Posted by Mschmeh144

The face recognition will be a problem of course
However you are correct on the cutouts, I was planning on doing that. And yes, it must be as quiet as possible. It also needs to have restraint so there isn't a insane box chasing everyone around

One simple option might be to use a range finder. Have code that tries to optimize the distance to target to, say, 6 feet. As the person moves forward, the tote follows, trying to keep exactly 6 feet away. If the person stops, the tote will stop.

And, yes, set a maximum speed so the thing doesn't start chasing everyone (funny as that would look!)

[BethMo]

Originally Posted by ratdude747

the other (the 3940 one) had a solid mecanum drivetrain that did get stuck on the scoring platforms a few times the one practice match it was used in (as a "50 point bonus if you catch it" prank on 3940).

I would love to see a video of that! Surely someone must have been recording it...is it posted somewhere?

[ratdude747]

Originally Posted by BethMo

I would love to see a video of that! Surely someone must have been recording it...is it posted somewhere?

Not sure. It was Thursday night at IN state champs, Andy Baker driving the totebot from the sidelines.

[Mschmeh144]

This it the bot so far, it shouldn't take too long to build. We are planning on getting the 2015 robot to be able to chase it

[GreyingJay]

Originally Posted by Mschmeh144

This it the bot so far, it shouldn't take too long to build. We are planning on getting the 2015 robot to be able to chase it

I'm picturing a bunch of people in the room having a meeting nonchalantly while in the background your robot is chasing this tote around.