Once the physical model of the robot was constructed and completed, we designed the 3D Assembly for the Robot. \n\nThe task was to design a 3D model as close as possible to the real physical model of the robot. Since, we were provided 3D models of the various Lego parts, we were able to concentrate more on the assembly modeling rather than designing the individual part modeling. \n\nThe first task was to select the software program/tool for assembly design and based on that, the appropriate 3D file format to import individual Lego parts into the assembly design.\n\nI decided to use Pro Engineer to design 3D Assembly for the robot. The Assembly modeling in Pro Engineer is fairly easy and Pro-E can import variety of file formats which made the task slightly easier for us.\n\nCAD Models for Lego components were provided in STEP (.stp), VRML (.wrl), Standard Exchange and Transfer (SET) and also in I-DEAS format. I chose to use the STEP (ISO Standard for the Exchange of Product Model Data) completely represents the product through its design life cycle with a comprehensive approach that supports neutral file exchange, shared databases, and archiving. It represents wireframe, surface, and boundary-represented solid geometry.\n\n* Importing .stp files into Pro-E
!Education\n* MS: Electrical Engineering, [[Drexel University|http://www.drexel.edu]] , Philadelphia, PA. (9/2005-Current)\n* BE: Electronics Instrumentation & Control, "PCE, University of Rajasthan", Jaipur, India.(8/2001-5/2005)\n\n!Work Experience\n* Teaching Assistant : CNHP, [[Drexel University|http://drexel.edu/]], Philadelphia, PA. (Current) \n* Research Assistant : [[Mechanical Engineering & Mechanics|http://mem.drexel.edu/]], [[Drexel University|http://drexel.edu/]], Philadelphia, PA. (01/2006-08/2006)\n** [[Research on Wireless Sensor Networks|http://www.pages.drexel.edu/~ng54/research.html]]\n* Technology Assistant : [[School District of Philadelphia|http://www.phila.k12.pa.us/]], Philadelphia, PA. (09/2005-06/2006) \n** Responsible for implementing "Technology in the classroom" program\n** Software Training Program\n** Software/Network Support & Troubleshooting
Welcome!!\n
The first task was to design and create a physical model of the cockroach-inspired robotic system using only Lego parts. We were provided a Lego Mindstorms Kit which included all different types of bems, axels, gears, bars, connectors and motors to power the system.\n\nSince the design is inspired from the original work of Whegs Robots done in Case Western Reserve University, I wanted to make a design which resembles, if not fully, but to some extent to a coackroach. It also made sense to go for the wheel-legged design. Wheels provide simplicity of motion and allow a vehicle to to move over terrain quickly whereas legs allow robots to climb obstacles that are higher than what a wheeled vehicle would be able to climb over.\n\nSo, the first step was to design a central structure and a chassis which would hold the main body and other components like shafts, gears and motors. The next was to design a suitable gear assembly or a driver system which will eventually rotate the legs to move the robot forward. The robot incorporates a central drive with two motors, one for each side. Both the motors drive a set of gears which in turns drives a three- spoke leg system to move the cockroach.\n\nEssentially, the idea was to have low-ground clearance, longer structure in order to be closer to the real cockroach and to accommodate 6 legs(basically six 3-spoke set) and hence more gears.\n\nThe completed physical design excluding the leg system looked like this:\n\n[img[Top View|http://www.pages.drexel.edu/~ng54/BioInspired/Top_View.jpg]]\n\n\n[img[Front View|http://www.pages.drexel.edu/~ng54/BioInspired/Front_View.jpg]]\n
The inspiration for this project has come from watching insects move through the kinds of complex terrain found in natural settings. Insects often have to alter movements to climb over, tunnel under, or go around those obstacles to find their path from one point to another. \n\nHere, I have particulary chosen a cockroach as they are agile and able adapt well to obstacles and rough terrain. I have focused on a species of cockroach known as Blaberus Discoidalis, since it is know to have shown resilience in rough environments. You can read more about the sensing, locomotion and control performed by this creature [[here|http://www.case.edu/artsci/biol/ritzmann/ritzmann.htm]], a seminal work done by Dr. Roy E Ritzmann.\n\n
*Wanna test you grey matter!! Visit my quiz site [[Qphoria|http://www14.brinkster.com/qphoria/]] The Joy of quizzing!\n*[[www.tinyos.net|http://www.tinyos.net/]]\n*[[Berkeley WEBS|http://webs.cs.berkeley.edu/]]\n*Keith's [[Beginner's Guide|http://www.pages.drexel.edu/~kws23/tutorials/motes/motes.html]] to [[Crossbow|http://www.xbow.com]] Motes
[[Welcome!!]]\n[[Inspiration]]\n[[Motivation]]\n[[Design]]\n[[3D Assembly]]\n[[Links]]\n\n
The motivation to start building a cockroach-based robot has come after seeing the work done in [[Bio-Robotics lab|http://biorobots.cwru.edu/]] in Mechanical Engineering department of Case Western Reserve University.\n\nResearchers here have been studying insects' walking pattern, locomotion, control, gait patterns and building robotic creatures based on this study of real-world insects.\n\nI particulary became interested in their [[Whegs|http://biorobots.cwru.edu/projects/whegs/whegs.html]] series robot and wanted to explore the design and assembly of a similar robot using only Lego Parts.
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Masters Student @ Drexel University, Philadelphia PA\n\n"In attempting to construct such machines we should not be irreverently usurping His power of creating souls, any more than we are in the procreation of children. Rather we are, in either case, instruments of His will providing mansions for the souls that He creates." - Alan Turing\n
Nikhil Gulati
This is the Tiddlywiki page I have created to prepare the Final Report for the class in Computational Modeling of Bio-Inspired Robots and to showcase my cockroach-inspired Lego robot called Blaberus Drexcoidalis.\n\nPlease use the links on the left to navigate through various sections and read more about the motivation, inspiration, design, assembly, modeling and simulation of the robotic creature and also the problems addressed and those still to be addressed.
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