LASA - Lectures

Robotics Practicals

DOF BOX II: Building a robot with several degrees of freedom (DOF)

Section Microtechnique; - Master Level

Instructors

Prof. Aude Billard

LASA Laboratory
Swiss Federal Institute of Technology - EPFL
CH-1015 Lausanne, Switzerland
tel: +41 (21) 693.54.64
fax: +41 (21) 693.78.50
email: aude.billard@epfl.ch

Office Hours: Monday, 14:00 to 16:00, by appointment. (office : CM1642)

Assistant

Mohammad Khansari
email: mohammad.khansari@epfl.ch
tel: +41 (21) 693 54 62

Time and Location

Monday, 2-6pm in room ME A3 445

Grades for the practicals will be posted 3 weeks after the practicals.

Project Description

Objective: The project entails imagining, building and making a moveable robot with several degrees of freedom work.

Structure: The practical composed of 3 main steps:

Measurement of the module characteristics.

Design and evaluation of the controller.

Building and controlling a robot with locomotion abilities.

Timeline: This practical lasts 12 hours (three weeks x 4 hours). In each week, you tackle one of the steps mentioned above.

Materials: Each student group will receive the following:

One pack of 6 DOF BOX II modules.

One I2C-RS232 translator making it possible to connect the system to a PC.

A Power supply.

Some tools (screw-driver, etc).

DOF BOX II: “Dog” robot

Course Material

Theoretical material for the practical and the assignment sheet can be found HERE
(see HERE for the old and not up-to-date version in French)
Source code for the practical can be downloaded from HERE

!!!!!!!!!BEWARE!!!!!!!! YOU MUST READ ALL THE ABOVE DOCUMENTATION PRIOR TO ATTENDING THE PRACTICALS

DOFBOX 2 Images

DOFBOX 2 base mudule

DOFBOX 2 compositions: Tours and Spider

Videos

!! New !! Practicals 2010

Practicals 2009

Practicals 2005

Practicals 2006