Arthrobot

Accommodation registrations have started. To register for accommodation, click here.

The very fact that 97% of the terrestrial population of the world requires legs for locomotion makes it imperative that robots master the skill of walking. These mechanical arthropods would have to run, jump and climb in the cities of our future and what better venue than Arthrobots at Techfest 2009 to show your skills at making one of these critters.

1. Problem Statement

Build a legged machine that has to traverse across the designated path in the least possible time.

To see the iNexus International Round problem statement, click here.

To see the iNexus homepage, click here.

Prizes worth INR 55,000 to be won.

View the Arena »

Registration for Arthrobot has started. Click here to register.

To view the discussions on this competition, Click here

For further queries contact:

2.1 Arena Specifications

Zone A:

Zone A is white in color. It is a plain surface apart from 4 obstacles on the course to finish.

1. Step of height 30 mm at a distance of 1100 mm after the start line.
2. Step of height 50 mm at a distance of 1100 mm after the first 90 degree turn.
3. Step of height 60 mm at a distance of 1100 mm after the second obstacle.
4. Pipe obstacle at a distance of 1100 mm before the finish line. Pipe obstacle is a semi-cylinder of radius 35 mm placed perpendicular to the course on top of a cuboid of height 35 mm, length 1000 mm and breadth 70 mm.

A narrow black strip of 20 mm in the centre of the track will be provided to aid autonomous machines. Also a black strip of same thickness of about 20 mm, perpendicular to the previous strip would be provided 60 mm before each obstacle.

All the arena dimensions would be within 2% error or 10 mm whichever is maximum. However the error in the case of step would be within 2 mm.

Zone B:

Zone B is at the same level as Zone A and is black in color. A penalty shall be imposed on the machine if it enters in Zone B.

Figure 1

Figure 2

View the Machine Specifications »

3.1 Dimensions and Fabrications

1. The maximum allowed dimensions of the machine are 750 mm X 750 mm before the start line, there are no restrictions on height of the machine.
2. The machine should not weigh more than 10 kg.
3. The legged machines can have any number of legs.
4. If the machine uses an externally placed power supply, the dimensions of the power supply are excluded in the size constraint.
5. During the game, the machine can expand or detach itself into multiple parts provided it does not damage the arena in any way. The judges hold the right to subjectively determine if the machine violates this clause. However, any part of the bot that is detached during the run should also cross the finish line otherwise the minimum distance of the detached part from the starting line would be taken as the distance covered by the bot.
6. Machine can only use readymade mechanical parts. Readymade electronic kits are not allowed.Thus participants can use any ready made electrical components to the level of chips and components however any assembling of those components will have to be done by the participant

3.2 Power Supply and Propulsion

1. The machine is allowed to have on-board power supply or external power supply.
2. The method of propulsion is at the discretion of the builder, provided it does not damage the arena in any way. The machine cannot use any mechanism which directly transmits the manual force to the machine. For example use of clutch wires is not permitted. The judges hold the right to subjectively determine if the machine violates this.
3. The organizers will provide a standard 230V/50 Hz AC power supply. Any extension cords, eliminators, adaptors etc required will have to be arranged by participants themselves.

3.3 Controls

1. The machine can be completely autonomous or manually controlled, the condition being that only four controls for maneuvering are allowed on the control board for the manual control.
2. In case of wired mechanism, the wire must be slack at any point of time during the game. The length of wire extending from the control board to the machine must be more than 3 meters. Note that your controller board should be clearly visible from both sides.

3.4 Definition of Leg:

1. Maximum of two legs can show dependent actuation.
2. No wheels or rotary wheel-like appendages will be permitted.
3. Traction belt with studs or roller chain with 'feet' mounted in any orientation is not permitted.
4. The machine can only use its legs for the locomotion and negotiating the obstacles.
5. The entire weight of the machine must be completely supported by the machine's legs.
6. All legs/appendages that are used to assist in balancing the machine, or locomotion, must separate (lift/hop/move) off the ground at some point during each walk/step cycle. i.e. they can not slide/roll across the ground.

View the Rules »

4.1 Competition Rules

1. If the specified requirements mentioned in the section 3.4 of Legged machine are not met then the team would be disqualified.
2. The run time starts from the moment any part of the machine crosses the starting line and stops the moment last part exits the finish line.
3. If the machine crosses Zone B or touches the white strip beyond the Zone B then the team will have to go for a rerun.
4. If the Machine enters the Zone B then half the time stayed in the Zone B will be added to the run time.
5. Each team will get a maximum time of 10 minutes which includes all the run times as well as the time taken by the participant to make minor changes in their machines in between the runs.
6. If a participant touches the machine in the middle of its run then the team has to go for rerun.
7. At each rerun 15% of run time would be added to the run time.
8. Only the best rerun would be counted.
9. In case none of the teams are able to complete the track then the team which goes farthest distance will be regarded as the winner.
10. Advantages:
    1. Advantage on basis of number of legs:
       To encourage and also keeping in mind the difficulty of making.
       
       • The best run time of machine designs of 4 legs (Tetrapeds/Tetrapods) will be reduced by 10% (i.e. Run Time = 0.9 x Actual Run Time).
       • The best run time of machine design of 3 legs (Triped) will be reduced by 15% (i.e. Run time = 0.85 x Actual Run Time).
       • The best run time of machine designs of 2 legs (Biped) will be reduced by 20% (i.e. Run Time = 0.8 x Actual Run Time).
    2. Advantage on basis of power supply:
       The best run time would be reduced by 10% if an onboard power supply is used.
    3. Advantage on basis of automation:
       The best run time would be reduced by 20% in the case of completely autonomous machine.
    All the percentages would be added and not compounded. For example, for a completely autonomous biped with on board power supply its run time would be reduced by 50%.


11. The decision of the Judges will be final when implementing the rules of the legged machine competition.
12. Apart from first, second and third prize there would also be best design prize decided on the basis of design, innovativeness and uniqueness of the entry by the judges.

4.2 Grand Finale

There would be a final round comprising of the top teams of iNexus round and the top teams from elimination round of Arthrobot round to decide the final winners of Arthrobot competition.

4.3 General Rules

1. The teams must adhere to the spirit of healthy competition. The teams must not damage the arena in any way. Judges reserve the right to disqualify any team indulging in misbehavior.
2. Any team that is not ready at the time specified will be scratched from the competition automatically.
3. The machine would be checked for its safety before the run and would be discarded if found unsafe for other participants and spectators.
4. The name of your machine must be prominently displayed on the machine.
5. The participants are requested not to dismantle their machines before the completion of the whole competition as the machines might be needed to be verified at a later stage by the judges to ensure that participants have not violated any of the rules.
6. Judges' decision shall be treated as final and binding on all.
7. The organizers reserve the right to change any or all of the above rules as they deem fit. Change in rules, if any, will be highlighted on the website and notified to the registered participants.

4.4 Team Specifications

A team may consist of a maximum of 4 members. Students from different educational institutes can form a team.

4.5 Eligibility

All students with a valid identity card of their respective educational institutes are eligible to participate in Arthrobot at Techfest 2009.

4.6 Certificate Policy

1. Certificate of Excellence will be given to the top teams emerging from this competition.
2. Certificates of Participation will be given to all the teams whose bot is able to negotiate the 30 mm hurdle as well as cross the first turn ( 90 degree turn ) in a single run.

4.7 Registration

Registration for Arthrobot has started. Click here to register.

4.8 Accommodation

• Due to the limited accommodation facilities, teams will be short listed for accommodation based on the following abstract provided by the team. Please note that even if your abstract does not get short listed, you are still eligible to participate in the competition.
• All participants who want accommodation at IIT Bombay during Techfest should fill the abstract form and rename the .doc file as "<Team_no>.doc" and email the form to arthrobot[at]techfest[dot]org. The abstract should reach us latest by 2359 hrs on 15th December 2008. No more requests for accommodation will be entertained thereafter.
• Click here to download the abstract format.
• Accommodation registrations have started. To register for accommodation, click here.

4.9 Important dates

1. Last date for registration for participant who don't require accommodation at IIT Bombay is 25th December, 2008. Participants need not send the abstract if they don't want the accommodation.
2. Last date for submitting the abstract for participants who require accommodation at IIT Bombay is 15th December, 2008.
3. Last date of registrations for the participants who wish to avail accommodation at IIT Bombay is 15th December, 2008.

View the Resources »

5.1 Resources

For more details, refer the following links:

1. Biped: www.lynxmotion.com/Category.aspx?CategoryID=85
2. Tetraped: www.lynxmotion.com/Category.aspx?CategoryID=26
3. Hexaped: www.lynxmotion.com/Category.aspx?CategoryID=3

5.1 FAQs

1. Am I eligible to participate in Arthrobot?
   All students with a valid identity card of their respective educational institutes are eligible to participate in Arthrobot.
   A team may consist of a maximum of 4 members. Students from different educational institutes can form a team.


2. How can I register for the competition?
   Registration Process in online in nature. To register click here


3. Is there any registration fees for the competition?
   Techfest does not charge any registration fees to any of the student/participant.


4. What is the Last date of Registration?
   Last date for registration for participant who don't require accommodation at IIT Bombay is 25th December, 2008. Participants need not send the abstract if they don't want the accommodation.
   Last date of registrations for the participants who wish to avail accommodation at IIT Bombay is 15th December, 2008.


5. How can I register for the accommodation?
   Teams will be short listed for accommodation based on the abstract provided by the team. All participants who want accommodation at IIT Bombay during Techfest should fill the abstract form and rename the .doc file as ".doc" and email the form to arthrobot[at]techfest[dot]org. The abstract should reach us latest by 2359 hrs on 15th December 2008.
   Last date for submitting the abstract for participants who require accommodation at IIT Bombay is 15th December, 2008.
   Last date of registrations for the participants who wish to avail accommodation at IIT Bombay is 15th December, 2008.


6. What if my abstract doesn't get shortlisted?
   Please note that even if your abstract does not get short listed, you are still eligible to participate in the competition.


7. What do you mean by legged robot?
   A legged bot is defined as a robot which "solely" uses its legs(or leg like appendages)for balancing, locomotion etc.
   For explicit definition of leg refer to Definition of Leg Section 3.4


8. What are the restrictions on the legs?
   -Machine can have any number of legs. Remember that there is advantage in terms of points for biped ,triped ,tetraped bots.
   For more details refer to Competition Rules Section, Rule no 4.1.10, Advantages


9. What is dependant actuation?
   -Dependant actuation means movement of one leg is directly(by mechanical means) dependant on that of other.That is using same motor for moving both the legs etc.You can use two different motors for two different legs.


10. What are the restrictions on using readymade parts?
    -Readymade parts means the parts explicitely bought or removed from some other product. For this competition participants can use readymade mechanical parts but not electrical circuit boards or other possible-to-make-by-hand parts.(for ex. they can use readymade electrical motors with or without geared assembly,I.C.s but not circuit boards/demo boards etc)


11. If we use pcb's designed by us but printed and/or soldered from some professional firm, Then will it be considered readymade or not?
    No. It will not be considered readymade if you have designed it by yourselves.
    You need to prove that, the board is designed by yourselves. We will be checking eagle files(or any other software file) for the same.


12. Can power supply be external?
    Yes. It can be external or internal.
    Remember there is advantage in terms of points for on board internal power supply.
    Remember that participants using external power supply should bring their own eliminators or any such device as per their requirement. Organizers will provide standard 230v ac power supply only.
13. Do the horizontal and vertical lines cross in the manner shown and extend beyond their intersection?
    Yes they will extend beyond the point of intersection.


14. What is black zone given in the diagram?
    Black zone given outside the border of main white arena is zone B. This zone will be of same height as that of the white zone to which it is attached.


15. What material exactly will the arena be of? Will the paint be gloss finish or matte?
    The arena will be made of mostly ply wood with appropriate paint. The exact details of the color would be soon updated at the website.


16. For how much time can one team try to complete the track?
    Each team will get a maximum time of 10 minutes which includes all the run times(including all reruns) as well as the time taken by the participant to make minor changes in their machines in between the runs.


17. Are the advantages on different bases additive or multiplicative?
    Advantages on different bases are additive. For ex. if your bot is triped(3 legged) with on board power supply and autonomous then total of (15+10+20=)45% of the best run time will be reduced.


18. How many reruns can one participant perform?
    One can perform any number of reruns given that they are performing rerun within given time(10min total).


19. Will all the teams get a certificate of participation?
    Certificates of Participation will be given to all the teams whose bot is able to negotiate the 30 mm hurdle as well as cross the first turn ( 90 degree turn ) in a single run.


20. I have some more queries that are not given in this list. What should I do?
    You may contact arthrobot[at]techfest[dot]org for any further doubts.