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 ) ... page 1 MS THESIS trundle reactive boxes egg machine plane modulator relational constructs dakadaka introspection machine eat = studies resources