Download Maze Solving by a Humanoid Robot - Introduction

School of Electronic, Communication and Electrical Engineering
BEng Final Year Project Report
LIST OF FIGURES
Figure 1 - The Bioloid Comprehensive Kit
Figure 2 - Dy namixel A X-12+ Servo
Figure 4 - A X-S1 Sensor Module
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Figure 3 - A X-12 Servo Movement Range
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Figure 5 - A X-S1 Module sensor and receiver location
Figure 7 - CM-5 Module Top View
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Figure 8 - Bioloid Frame Set
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Figure 6 - The CM-5 Main Controller Module
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Figure 9 - Behavior Control Screenshot ............................................................................... 12
Figure 10 - Behavior Control program example
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Figure 11 - Motion Editor Software Screenshot .................................................................... 13
Figure 12 - Motion Editor Screen Description ....................................................................... 14
Figure 13 - Bioloid's flash memory division .......................................................................... 15
Figure 14 - Robot Terminal Screenshot
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Figure 15 - Wiring of CM -5 Module with Dynamixels
Figure 16 - CM-5 Internal Circuit Diagram
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Figure 17 - Bioloid Communication Protocol ........................................................................ 18
Figure 18 - Bioloid Humanoid Model
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Figure 19 - WinAVR Comiler Screenshot
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Figure 20 - Bioloid Humanoid Sensor Directions .................................................................. 33
Figure 21 - Right-hand wall following example
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Figure 22 - Flowchart representing the 'decision making' wall following algorithm developed. .. 34
Figure 23 – Maze map and robot‟s route ............................................................................. 36
Figure 24 - Robot solving the maze..................................................................................... 36
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