Robotics for Dancers: DJI RoboMaster S1 Assembly (Quick Lo

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Thesis: An Exploration Into Digital Technology and Applications for the Advancement of Dance Education

Carl Sanders
Teaching Dance with Technology
Robotics for Dancers

The RoboMaster S1 aka “Charlie”

Charlie is made up of 100 high quality components and I was able to build it in 75 steps. I built “Charlie” to confirm or deny whether or not the steps could be accomplished within a 10-week quarter (within a reguler dance course) and still have time to also learn dance technique or choreography. I began by assembling the omnidirectional wheels; which allows for signal transmission of movement in all directions. Each wheel is a unit and was created by hand with the use of 12 mecanum rollers, gel grease, ring bracket, inner and outer threaded hubs, and connected with a M4-A Screw. Next, I built Charlie’s skeleton by fasting the chassis cover to the middle frame. The front axis module base is attached to a x-shaped shaft cover and axis cover, then screwed to the middle frame. I continued with the installation of the motion controller motherboard toward the rear of the vehicle. This component works as the nervous system of Charlie, pumping electrical currents to each part of the robot system. One of the first sets of data cables (or vein) that was connected to the motion controller were the four hit detector sensors. The sensors were placed in the inner compartment of the chassis’s front armor hood, rear trunk, and side door panels; then fixed to the frame and the cables were inserted into the motherboard’s CAN BUS Port. Once that was completed, I moved to installing the wheels to the frame. This was accomplished by connecting a motor mounting plate, M35081 brushless motor, ESC, and threaded mecanum wheels screwed to all four corners of the chassis. It’s corresponding wires were strung through the underbelly of the vehicle and fed into the M BUS Port. Afterwards, the flex positional gimbal unit was tightened to the top of the frame and linked to the CAN BUS Port.

Charlie’s brain or intelligent controller was mounted on the top of the gimbal and synced by a data cable. A camera with a ¼-inch sensor and 5 million pixels, allowing for a first person point of view perspective (POV) with a 120 degree field of view (FOV), was adjusted to the head of the gimbal. In addition, an audio speaker was plugged into the intelligent controller and situated on the gimbal. The body was completed by enclosing the cables underneath with the chassis cabin cover, and sealing the motion controller compartment with its transparent cover.

Charlie’s manufacturing design includes a laser and gel bead gun blaster for game use and competitive robot battles. However, I chose to negate this option and rather modified the space for this component with the Osmos Action camera, enabling the ability to film in 4K with voice control features. Through the use of a flexible monopod, action camera accessory clip, and ball tight bungee cord; I balanced the new system in place, while making sure to maintain clearance and not to exceed the weight limit of the gimbal for full mobility. Lastly, the heart or intelligent battery is inserted from the back of the module, the power source button was pressed, and Charlie “came to life”. As actor Colin Clive famously said in his 1931 role as Dr. Henry Frankenstein: “Look! It's moving. It's alive. It's alive...IT'S ALIVE!”

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