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plaza.ufl.edublakecsIMDL7-26-05_20Talk.ppt

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					Teresa
    the
    Six-Legged Robopuppy: a pet for the dog-deprived


                • six-legged

                • friendly

                • fickle (easily distracted)

                • likes to be walked

                • noisy

                • no need for house training
Teresa
    the
    Six-Legged Robopuppy: Sensors and Behaviors


               Behavior                       Sensor

               •attraction to people          pyroelectric

               •obstacle avoidance            SRF04

               •edge-of-the-world detection   SRF04

               •respond to leash              Sega (joystick)

               •likes being “scratched”       Sega (buttons)
Teresa
    the
    Six-Legged Robopuppy: Actuation


               • Tripod gait is efficient on flat terrain


               Actuator             Corresponding muscle

               • center servo       knees (leaning)

               • left servo         left side

               • right servo        right side
Teresa
    the
    Six-Legged Robopuppy: Questions




                Questions?

				
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posted:5/13/2013
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