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| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h1>Additional Materials</h1> | ||
| <div class="wrapper"> | ||
| <h2 class="title"></h2> | ||
| </div> | ||
| </body> | ||
| </html> | ||
| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h1>Additional Materials</h1> | ||
| <div class="wrapper"> | ||
| <h2 class="title"></h2> | ||
| </div> | ||
| </body> | ||
| </html> |
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| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h1>Project Conclusion</h1> | ||
| <div class="wrapper"> | ||
| <h2 class="title"></h2> | ||
| </div> | ||
| </body> | ||
| </html> | ||
| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h2 class="title">Conclusion</h2> | ||
| <div class="wrapper"> | ||
| <div class="content"> | ||
| <h3>Finished Solution vs Design Criteria</h3> | ||
| <p> | ||
| We acheived an end result that meets our design criteria on our project proposal. | ||
| For sensing, we used computer vision via color thresholding to identify the center of the board, which | ||
| laid the foundation for the rest of the programming. We also developed our own haptic sensing, which allowed | ||
| us to perform haptic search and identify, without vision, how to get a stable grip on a chess peice, as well | ||
| as when to proceed with moving the peice once the gripper had been actuated. We were not able to recognize the | ||
| gamestate with computer vision, and so instead relied on recording the gamestate with Stockfish's API. | ||
|
|
||
| For motion planning, we simply performed the gameplay, including capturing, castling, promoting, etc. | ||
|
|
||
| For actuation, we relied on the packages built into the lab's robot to perform movement control, | ||
| as well as our own circuitry to actuate the negative and positive pressure of the vacuum suction cup. | ||
| </p> | ||
| </div> | ||
|
|
||
| <div class="content"> | ||
| <h3>Challenges Encountered</h3> | ||
| <p> | ||
| By far the most difficult challenge was properly executing haptic search. Chamber 3 on our suction cup misread | ||
| positive pressure by about 10% more than the others, which, given that haptic search relies on using the pressure | ||
| readings to create a direction vector toward the chambers that have not grabbed onto an object, skewed the direction | ||
| the next search location was in and effectively broke haptic search entirely. To cope, we isolated the datapoint and | ||
| scaled it down, and if this didn't work, we really just prayed that chamber 3 was one of the initial chambers that found | ||
| something to grab. | ||
| </p><p> | ||
| Another difficult challenge we had to tackle was our circuit construction. As a prototype, it was done on a breadboard, which | ||
| resulted in the occassional loose wire. This then broke the positive pressure actuation, and was quite tricky to debug. To fix | ||
| it, we eventually just had someone push it in every five minutes while playing a game of chess. | ||
| </p><p> | ||
| Lastly, it was extremely difficult to cope with the safety parameters of the lab bot. Movements outside a specific imaginary box | ||
| or at a specific speed would cause the robot arm to automatically shut down. This would interrupt any process we were executing, | ||
| and became a significant delay strain on the iterative design process we were executing. | ||
| </p> | ||
| </div> | ||
|
|
||
| <div class="content"> | ||
| <h3>Hacks and Improvements</h3> | ||
| <p> | ||
| As aforementioned, would we be able to ensure better hardware, the immediate improvements we would make would be | ||
| having a real circuit that does not involve loose wires and a vacuum that reads its pressure properly. That would enable | ||
| our group to avoid our hacks of "pray the 3rd chamber actuates first" and "pray the wires don't come loose". Other improvements | ||
| we would like to make are mostly aesthetic: black and white peices instead of blue and black, a chess board that is checkered instead | ||
| of a grid of squares. It would also be nice to get better timing on all the sequential steps of a the robot moving a peice so | ||
| games can be played at a faster rate. | ||
| </div> | ||
|
|
||
|
|
||
| </div> | ||
| </body> | ||
| </html> |
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| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h2 class="title">Project Design</h2> | ||
| <div class="wrapper"> | ||
| <div class="content"> | ||
| <h3>Design criteria and Desired Functionality:</h3> | ||
|
|
||
| <ul> | ||
| <li> | ||
| The robot arm can pick up and place down a piece correctly as we | ||
| desired. | ||
| </li> | ||
| <li> | ||
| The robot arm need to have the ability to perform its own move base | ||
| on the current game situation so it can play with humans. | ||
| </li> | ||
| <li> | ||
| Perform haptic search so it can pick up the chess pieces accurately | ||
| even if we only have the rough idea of where the piece will be. | ||
| </li> | ||
| <li> | ||
| The robot arm need to detect and deal with the edge cases in chess | ||
| such as upgrading and castling. | ||
| </li> | ||
| <li> | ||
| The robot arm can recognize the current game using machine learing | ||
| and computer vision so we don't need to record the game stats. | ||
| </li> | ||
| </ul> | ||
|
|
||
| <h3>Design Choices and Details:</h3> | ||
| <p> | ||
| Although the game we want the robot arm to perfrom is just a normal | ||
| chess game, since we want to emphasize the idea of smart suction cup. | ||
| We 3D print our own chess pieces so that it is thin and flat that will | ||
| be hard for a normal grippers to pick up. We also make our own chess | ||
| board by cutting a wooden board that each square of the chess will be | ||
| 3 inch by 3 inch. | ||
| </p> | ||
| </div> | ||
| </div> | ||
| </body> | ||
| </html> | ||
| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h2 class="title">Project Design</h2> | ||
| <div class="wrapper"> | ||
| <div class="content"> | ||
| <h3>Design criteria and Desired Functionality:</h3> | ||
|
|
||
| <ul> | ||
| <li> | ||
| The robot arm can pick up and place down a piece correctly as we | ||
| desired. | ||
| </li> | ||
| <li> | ||
| The robot arm need to have the ability to perform its own move base | ||
| on the current game situation so it can play with humans. | ||
| </li> | ||
| <li> | ||
| Perform haptic search so it can pick up the chess pieces accurately | ||
| even if we only have the rough idea of where the piece will be. | ||
| </li> | ||
| <li> | ||
| The robot arm need to detect and deal with the edge cases in chess | ||
| such as upgrading and castling. | ||
| </li> | ||
| <li> | ||
| The robot arm can recognize the current game using machine learing | ||
| and computer vision so we don't need to record the game stats. | ||
| </li> | ||
| </ul> | ||
|
|
||
| <h3>Design Choices and Details:</h3> | ||
| <p> | ||
| Although the game we want the robot arm to perfrom is just a normal | ||
| chess game, since we want to emphasize the idea of smart suction cup. | ||
| We 3D printed our own chess pieces so that it is thin and flat that will | ||
| be hard for a normal grippers to pick up. We also make our own chess | ||
| board by cutting a wooden board that each square of the chess will be | ||
| 3 inch by 3 inch. | ||
| </p> | ||
| </div> | ||
| </div> | ||
| </body> | ||
| </html> |
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