Robocon Hong Kong Contest 2019
3rd runner up, Best Engineering Award
The Robocon Hong Kong Contest 2019 served as a preliminary round of ABU Robocon 2019 in Hong Kong, with a shared theme and game rules. It provided a platform for participants to showcase their innovative technology, teamwork, and problem-solving skills. In this project, I was responsible for designing the perception and control system of the autonomous robot that has to move only on four legs, like a horse.
The robot is required to carry the token and move across several obstacles (a step, two tripping ropes, and the slope region) to automatically reach the final goal. Our robot is able to walk at 1.2m/s and climbs a 15-degree slope.
The robot jumps more than 20cm high and 0.5m forward, ensuring strong obstacle surmounting ability to finish the game task.
The robot adopts 4 parallel manipulators as its legs and uses 8 brushless motors drived by 8 VESC motor controllers. The locomotion and perception system runs on a central STM32 MCU which communicates with VESCs through CAN bus. We adopt the spring loaded inverted pendulum dynamic model to control the robot.
Our team (Crimson at the Hong Kong Polytechnic University) won 3rd runner up and the Best Engineering Award.
