Design Challenge 2:

For 2022/23 there are two options for DC2.

1. Build and program a haptic device with at least two demos using the Haply
2. Build and demonstrate a Stumpy robot using two dynamixel actuators

• Challenge runs from Wk7 to Wk11 of Autumn term 2022.
• Challenge will be done as a group of at least two people.

option A: Building a Haply haptic interface

Haptic interfaces allow a person to feel and interact with virtual content (see (http://www.personal.reading.ac.uk/~shshawin/) for examples)

The Challenge is to build, program and evaluate the mechanical and software design of a Haply 2diy pantographic haptic pantograph interface.

Three Haply kits will be available from Week 7 at the Wednesday sessions. Students who want to do this option will be assigned randomly to one of the three groups.

• Company site (https://haply.co/)
• Haply assembly instructions (https://2.diy.haply.co)
• Blog on the assembly (Kattie) (https://ksepehri.medium.com/lab-2-intro-to-haply-caec82d72ca8)
• Additional programs from Haply (https://drive.google.com/drive/u/0/folders/1Vj4n8t8dsbPHCkm4QUtBy4puSC7KGl8y)

option B: Build a Stumpy walking robot

Stumpy is a demonstration that complex movements can emerging from simple dynamics and was created by Rolf Pfeifer and Fumiya Iida[iida2004self]. Some follow up work was done by Martius et al.[martius2014self]

The Challenge is to design and build a variation on stumpy (with only two Dynamixel actuators) and demonstrate at least two walking patterns.

Some video footage is available below

Tedtalk by Rolf Pfeifer (https://www.youtube.com/watch?v=mhWwoaoxIyc) (Stumpy appears at around 8:16)

Rolf Pfeifer, Robotiker (SRF) (Stumpy appears at around 8:18) (https://www.srf.ch/play/tv/sciencesuisse/video/rolf-pfeifer-robotiker?urn=urn:srf:video:ed13413a-1f3e-49c8-b46a-bd56aaf060b6)

Martius web pages

• (http://robot.informatik.uni-leipzig.de/videos/?lang=en) (includes some footage of stumpy)
• (http://robot.informatik.uni-leipzig.de/research/supplementary/SAB2014/)

Portfolio

• The portfolio critique should discuss all three design challenges
• Consider including videos, photos, programs, drawings, sketches, fusion360 drawings, stl files etc.

Bibliography

[iida2004self]

Fumiya Iida and Rolf Pfeifer, "Self-stabilization and behavioral diversity of embodied adaptive locomotion", 2004 Embodied artificial intelligence