playgo robot

thingiverse

A Flickr set for this robot can be found here: http://www.flickr.com/photos/sixmilliondollardan/sets/72157616240288122/. The zip file consists of SolidWorks files, possibly from SW2006. However, the exact version is uncertain. The creator will try to locate their parts spreadsheet and upload it. This project was completed during Spring 2008. The robot, designed for Prof. Rod Brooks at MIT CSAIL, was meant for Go playing (focusing on manipulation rather than strategy). Postdoc Eduardo Torres-Jara worked on motor drivers, control, and hand design, while Josh Kargas handled electronics mounting and routing. The robot features 6 Series Elastic Actuator degrees of freedom, though the waist is locked out and shoulder joints have their spring shorted out. Degrees of Freedom (DOFs) include: waist yaw, shoulder x2, elbow x2, wrist vertical axis x1, wrist rotation axis x1, neck pitch x1, head tilt x1, and head pan x1. Analog sensors, specifically potentiometers, are used. The creator welcomes questions and hopes that the documentation, although incomplete, may be of interest.