Over the past few weeks we have begun to move out of the prototyping phase and moved on to starting on some final analysis and design work. We have performed testing of many of the circuits that we will be using. This includes an isolator for the different voltage SMBuses that we will use to communicate with our batteries as well as a power failover circuit in order to keep our computer and communications running in the event that the primary batteries die. The circuit boards that will be inside of our boom have also been designed and the boards that will be in the main chassis are in the process of being designed. We have also been doing some scaled testing of our scale model robot (THIGH) on some scale stairs in order to perfect the geometry of our treads. A number of FEAs have also been completed in order to analyze the stress that will be exerted on our pod systems under static and dynamic loads.
On the software side we have been doing a lot of testing of different technologies to use for our control system as well as developing drivers to communicate with the different hardware devices that we will be using. Specifically we have been working on communicating with our batteries, IMU and motors. We have also been investigating different methods of building a remote interface for the robot and have developed an piece of software that allows us to stream video from ROS using WebRTC. This will provide us with reliable real time video under variable network conditions.