WINSTON
W.I.N.S.T.O.N is an inverse kinematics-based robotic companion, which combines artificial intelligence with dynamic locomotion to assist in tasks that the user may be unable to complete. W.I.N.S.T.O.N makes use of various sensors to traverse diverse terrains and autonomously navigate.
The purpose of this document is to define a proposed project with enough information for an informed decision to be made on whether to approve the project to proceed.
This document is the responsibility of the Project Team.
Project approval is dependent upon the document being completed and reviewed by the teacher of the project course.
- If the project is approved, it can then begin planning and execution,
- If the project is not approved, the Project Team can review the project and resubmit for reconsideration.
I. Project Definition Information.. 3
IV. Team Member Capabilities. 4
V. Project Outcomes/Requirement Objectives. 4
VI. Initial Scope of the Project. 5
XI. Roles & Responsibilities. 7
XIV. Deliverables, Timeframes and Dependencies. 8
I. Project Definition Information
| Project Name: | WINSTON |
| Project Team: | Sam Sidebotham |
| Mentoring Teacher: | Mr Edwin Griffin |
| Proposed Project Start Date: | 17/07/2023 |
The proposed project is WINSTON, a robot dog with inverse-kinematics based navigation and network transmission capabilities. WINSTON (Walking Inverse-Kinematics-Based Navigation System Transmitted Over Networks) is made up of three primary sections, these include the physical body, the electronic components, and the software.
The body includes the physical elements of WINSTON – the legs, chassis, and all the smaller parts going into that, the bearings, and axels. These parts need to be carefully researched and developed in order to deliver WINSTON with full capabilities.
The second section is the electronics. This includes the microcontroller (Arduino Uno), all the wires, the battery, control system, motors, and everything else that makes the body able to move. These components are (generally) readily available and are simple to combine into complex systems.
The third and final section is the software. This is where the inverse-kinematics comes in. The inverse-kinematics will be a set of trigonometric rules used to automate movement and, although somewhat trivial in theory, will prove to be very complicated to apply to a physical build. There is a selection of libraries which will be used to make this simpler, namely the AdaFruit PWM driver library, and there will be other minor parts to the code for ease-of-life and simplicity.
III. Project Purpose
The goal for WINSTON is to become a robot companion capable of assisting in tasks some people may just be unable to do. His small size and wireless navigation make it easy for him to get into places people may not be able to, making him ideal for certain uses. He also will have dynamic movement in all three planes, that is, he can move vertically, and lean in both directions on the horizontal plane without walking, as in full control of pitch, roll, and yaw. This will further improve his ability to assist in tasks as the complete control in movement allows reliable leaning and positioning. A secondary goal for WINSTON is to be capable of transitioning over rough terrain. He should be able to climb stairs (granted, small steps given his small size), and walk on rocky or uneven ground reliably. This allows him to achieve the primary goal better, therefore producing the ideal outcome.
| Team Member | Capabilities |
| Sam Sidebotham | Knowledge of Arduino C, Python Experience in mechanical research and design Experience in circuit design |
V. Project Outcomes/Requirement Objectives
| Outcome | Description |
| Emulates dog leg movement | The design of the leg mimics that of a real dog, with the backward bending knee and a belt acting as tendons to move in the same way |
| Capable of walking (from IK algorithm) | A successfully implemented inverse-kinematics algorithm should enable WINSTON to walk |
| Capable of body rotation | The dynamic approach should enable WINSTON to be able to tilt in three dimensions of movement |
| Wireless control of WINSTON | WINSTON should be controlled wirelessly either from commands from a computer or from a controller |
| Pathfinding | WINSTON should be able to determine the path required to get to its desired location through the use of IK |
VI. Initial Scope of the Project
| In Scope | Out of Scope |
| Ability to carry weight load of components | Speed of movement |
| Inverse kinematics-based locomotion | Operation duration greater than 10 minutes |
| Traverse uneven terrain | Advanced AI |
| Network communication | Speech recognition and natural language processing |
| User friendly interaction | |
| Sensor integration |
The timeframe for this project is: 4 weeks (to be completed by 18/08/2023)
VIII. Parties Involved
| Party | Involvement |
| Team Members + Teacher | Able to print parts for development |
IX. Constraints
| Constraint | Impact on Project Success (High/Med/Low) |
| Immediate access to electronic components | Medium |
| Accessibility of 3D printer | High |
| Public Space – items can get damaged | Medium |
X. Feasibility
| Skill Required | Resource with skill / capability |
| Development and testing | Sam – Fusion360 Arduino C 3D Printer |
| Electronics and Embedded Systems | Sam – Arduino C Circuit Design |
| Algorithmics | Sam – Arduino C Python |
Feasibility Scale: 73% (assuming 90% feasible in each section)
XI. Roles & Responsibilities
| Team Member | Roles / Responsibilities |
| Sam Sidebotham | Mechanical project lead Developer Tester (mechanical) |
| Issue | Description |
| Ordering components restrictions – Sam | Ordering most components need to be done during certain times with the mentoring teacher, lessening the time that will be allowing use of those parts |
| Time restraint with workload – Sam | Having other classes and commitments means working on this project constantly isn’t possible, limiting the number of hours we can put in. |
| Lack of 3D printer access – Sam | Sam does not own his own 3D printer and relies on his other members to be available to print the parts. |
| Risk | Description | Impact of Risk | Mitigation / Reduction |
| Printer Breakage | Member with printer is unable to produce components | H | Have found multiple people capable of carrying out task |
| Component shortage | Delivery on essential components can reduce production significantly | H | Design and test early as to give as much time for delivery as possible |
XIV. Deliverables, Timeframes and Dependencies
Timeframe estimate: 4 Weeks
| Deliverable | Duration | Completion Date | Dependencies |
| WINSTON (mechanical elements) | 3 Weeks | End Week 3 | None |
| WINSTON (software and IK elements) | 1 Week | End Week 4 | WINSTON (mechanical elements) |