We've added some new photos links to interesting "Line Following
Robot" web references on the project page http://wiki.hive13.org/Cin-D_LOU.
If anyone wants to step up and help to get the locomotion part of the
project moving forward (intentional PUNishment) we'll welcome your
participation. Work with Jon.
We're thinking locomotion phase 1 mode will be based on proportional
line following along a defined path laid-out in the HIVE studio
space. We'll start simple and walk before we run.
A next follow-up locomotion phase 2 mode might be called "follow the
leader". This would be free-form tracking and maintaining a distance
behind a lead person target similar to a golf caddy. This could be
used for general fun setup and to move to a defined path.
A down-the-road locomotion phase 3 mode might be free-form navigation
to approach and engage contact with a recognized target. Enter stage
left, "Hello, my name is Cin-D LOU, welcome to the HIVE!"
We'd also welcome inputs for tasteful concepts for the body whether it
be generic male, female, or androgynous. There is a rectangular
pattern of four 3/4" diameter sleeves on the top of the motorized
wheelchair frame that would be the mounting "hard-points" for the
body. Using these will allow the body to be easily mounted and
removed as needed.
One body implementation would be to build a wood stick frame; then cut
pink-foam "ham steak" contours; and use construction adhesive to join
successive contour layers working from the ground up to the neck. The
contour stair-steps could be sanded down to a generally smooth
A second (better?) body implementation would require some metal-
working capabilities. It would be really nice if someone could
provide some lengths of 3/4" OD structural steel tubing that would be
a slide fit into the four mounting sleeves. We'd also need the
ability to cut pieces, form bends, and weld them together. A body
frame made from steel will be beefier than wood. Handles could be
added at waist-level in the back (like the push handles on a real
wheelchair) to manually push Cin-D LOU around when the the motorized
wheelchair base is put into "free-wheel" mode.
The head design team is starting to choose and procure a setup based
on six R/C servos, two stepping motors, and a microcontroller for the
- both eyes up/down (R/C servo)
- both eyes left/right (R/C servo) Note: not cross-eye capable
- left eye blink (R/C servo)
- right eye blink (R/C servo)
- left eye lid raise/lower (R/C servo)
- right eye lid raise/lower (R/C servo)
- head nod up/down (stepper)
- neck turn left/right (stepper)
We're hoping to design motor mounts and bracket parts that can be
fabbed using the laser and makerbot.