Authors:
João Martin Gorte Jr.
1
;
Witenberg Santiago Rodrigues Souza
2
;
Artur Benevenutto Coelho
3
and
Lí Exequiel E. López
3
Affiliations:
1
Department of Electrical Engineering, Higher Education Institute of Brasilia, L2 Sul, Brasilia and Brazil
;
2
Postgraduate Program in Mechatronic Systems, University of Brasilia, Brasilia and Brazil
;
3
Department of Computer Engineering, Higher Education Institute of Brasilia, Brasilia and Brazil
Keyword(s):
Robot Design, Humanoid Robot, 3D Printing, Control Development, Automation.
Related
Ontology
Subjects/Areas/Topics:
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This work aims to present a modeling procedure, manufacturing process, electronic design, programming and communication system of a cyclist robot. The robot rider has the ability to ride a bicycle independently by making decisions on shifts in balance that may occur during its motion by correcting its direction, balance adjust, and stop. Robot decision-making processes were embedded in a shared control system of interactions with the external environment by commands sent through wired serial link or radio frequency(RF), allowing arm and leg-movements. This was achieved using a dual board synchronization powered by Atmel microcontrollers (Arduino) and fed by information from an electronic gyroscope sensor, an accelerometer, and remote radio frequency (RF) receptor. The final prototype was able to pedal from inertia accelerating gradually to its full speed, stop the movement, and move its arms to recover balance.