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overview

trundle v1.2
anatomy
images
behavior

interaction
movement


trundle v1.1
anatomy
images
behavior

trundle v1.0
+ anatomy
images

 

Structure
The primary structural framework of Trundle is made from 3/16 aluminum panels and 1/8 stainless steel rods. Steel counterweights are used for balance.
  Sensors
Trundle senses the world through an array of distance sensors. These sensors allow it to recognize the proximity of nearby people and objects. A pyroelectric sensor tuned to the temperature of the human body is currently being added to allow Trundle to detect directional movement.
  Actuators
Trundle currently has two degrees of freedom. Its two cascading servo motors each have a range of movement from 0 to 180 degrees giving it a wide range of motion. A third motor is currently being added to the top to provide lateral movement.
 


Surface
The form of Trundle is augmented by custom designed knit panels.
  Control System
The core of Trundle’s control system is a 68HC11 microprocessor which is situated in a Handyboard, an MIT designed controller board. Trundle’s software for processing input and controlling motors is written in the Interactive C programming language.
   

 

 
Casey Reas ( reas@media.mit.edu )