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Note: All rules subject to change without notice.
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Name of Event: ExoSkeleton Number of Robots per Event: One Length of Event: 10 minutes Robot Weight Range: None Robot Dimensions: as below Arena Specifications: 3 m by 2 m Robot Control Specifications: Human operated |
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Event Rules:
1 The Challenge
Build a powered, articulated exoskeleton for a human operator capable of:
The competition will consist of two events: weightlifting and material handling.
In weightlifting, the competitor has 10 minutes to complete a lift. The 10 minutes starts when the operator leaves the starting circle. The operator must ascend a ramp in the suit to the lifting area, seize and lift the load (a weightlifting bar) to a height of at least 18 inches and a maximum of 36 inches and return the load to the floor in a controlled manner. The operator is allowed 3 attempts. After completing the lift(s) the operator must descend the ramp in the suit and return to the starting circle. The score is equal to the maximum weight lifted.
In material handling, the competitor has 10 minutes to complete the material handling task. The 10 minutes starts when the operator leaves the starting circle. The operator must walk into the “warehouse” in the suit; pick up a rectangular box weighing 300 lbs from the floor; carry the box 15 feet across the “warehouse aisle” and place it in a specific location on a shelf without dropping it. The operator is allowed 3 attempts. After completing the task the operator must leave the “warehouse” in the suit and return to the starting circle. The score is based on the time required to complete a valid transfer.
2 Tournament Format
Each team has as least two opportunities to achieve a winning score in each event – these are called “Lift Sessions” and “Warehouse sessions” respectively.
Prior to each lift session the team selects a starting weight. When the team is called to the lifting area the selected starting weight will be on the bar. The team has 5 minutes to set up their equipment, 10 minutes complete a minimum of one valid lift and a maximum of 3 valid lifts, and 5 minutes clear their equipment from the lifting area. After each lift the team has the option of adding weight to the bar.
When a team is called to the warehouse area the box will be in the starting position. The team has 5 minutes to set up their equipment, 10 minutes complete a minimum of one valid transfer and a maximum of 3 valid transfers, and 5 minutes clear their equipment from the lifting area.
The best score from each session is recorded. After the second session in each event the best overall score is recorded. The tournament winners are the 3 teams with the best scores.
2.1 Lifting Area
Each lifting area is 3M x 2M. The bar and attached weights are placed in a starting zone centered at the front edge of the lifting area (see diagram). The weights rest in a pair of “sandboxes” located at the outed edges of the starting zone. The surface of the sandbox is as level as possible with the surface of the lifting area. All dimensions in the diagram are in meters.
2.2 Weights
The bar and weights are standard commercial weightlifting equipment, for example that supplied by Ivanko (www.ivanko.com):
2.3 Warehouse Area
2.4 Warehouse Load
3 Rules
3.1 Weightlifting Scoring
The score from a single lift is equal to the total load lifted, in pounds.
3.1.1 Valid Lift
The operator must leave the starting circle, ascend a ramp under power to the lifting area, which is raised approximately 18” from the floor, and seize the bar using powered grippers. Static attachment of the load to the suit is forbidden. The 10 minutes allotted for achieving a valid lift begins when the suit leaves the starting circle.
No part of the exoskeleton may extend into or over the sandboxes. At no time can any part of the exoskeleton touch the surface of the sandboxes.
A valid lift begins with the bar placed in the starting zone. The starting zone is a 30cm wide strip centered on the long axis of the sandboxes. The bar may not be moved while in contact with the surface of the sandbox, e.g. rolling or dragging the load is not permitted – the load must be lifted cleanly from the starting zone.
The lift ends when the bar has been lifted at least 18 vertical inches.
3.1.2 Releasing the Load
After a valid lift is achieved the bar and attached weights must be lowered back to the surface of the lifting area. Dropping the load is not permitted. The bar and weights do not have to be returned to the starting zone, however the weights must rest in the sandboxes when lowered fully. Failure to return the load in a controlled manner will invalidate the lift.
After releasing the load the operator must descend the ramp under power and return to the starting circle. The timer stops when the operator and suit re-enter the starting circle.
3.2 Material Handling Scoring
The score for material handling is (600 – the time to enter the warehouse area, complete a valid transfer, and return to the starting circle). For example, if a competitor takes 60 seconds, they receive a score of 540. If they take the full 10 minutes allowed (600 seconds), they receive a score of zero.
3.2.1 Valid Transfer
The operator must leave the starting circle, walk under power to the warehouse area and seize the load (a rectangular box weighing 300 lbs) using powered grippers. Static attachment of the load to the suit is forbidden. The 10 minutes allotted for achieving a valid transfer begins when the suit leaves the starting circle.
The operator must carry the load 15 feet across the “warehouse aisle” and place the load in a rectangle marked on the surface of a table without dropping it or otherwise returning it to the floor once it has been picked up. The table surface is 30” from the floor. The load must be placed completely in the marked-off rectangle. The operator can move the load on the table if necessary.
Once the load has been successfully placed in the target area the operator must leave the warehouse area under power and return to the starting circle. The clock stops when the suit and operator re-enter the starting circle.
3.3 Exoskeleton Design
3.3.1 Design Review
All entries must include a design document containing sufficient detail for the Robolympics 2005 event staff to determine whether the proposed design addresses the challenge and is within both the letter and spirit of the rules. Decisions on whether given entries are acceptable or not are final.
3.3.2 Self-contained Power
All power for the exoskeleton and any required support systems must be provided by a self-contained system. The system may incorporate remote components connected via a tether, wireless link, etc.
3.3.3 Self-contained Lifting Mechanism
The operator must lift the load by grasping the loads with powered grippers located at the end of the exoskeleton’s arms, as an unassisted human would. All movement of the suit must accomplished by powered elements that are an integral part of the exoskeleton in response to the operator’s movements without manual intervention by the operator (e.g. direct use of switches or controls by the operator).
Force feedback, load sensing etc. are not required but the suit MUST be controlled by tracking the operator’s movements, NOT by direct manipulation of switches, dials, etc.
External devices such as winches, support frames, jacks, etc. are not allowed.
3.3.3.1 Stored Mechanical Energy
Stored mechanical energy devices such as springs, torsion bars, gas struts flywheels, etc. are all allowed, however all such devices must enter and leave the lifting area in the unloaded state. Loading of springs etc. must take place in the lifting area during the 10 minutes allowed for a lift or material handling session.
3.3.4 Mobility
Powered mobility is required. The operator must be able to:
3.3.5 Auxiliary Supports
The exoskeleton must be able to balance and support itself, the operator, and the load without the use of outriggers, auxiliary braces, etc. other than its own legs and feet. In addition, the feet of the exoskeleton must not extend over or into the sandboxes.
3.3.6 Attachment to the Lifting Area
The exoskeleton must not use any mechanism or method to attach itself to the lifting area surface – for example suction devices, magnets, adhesives, mechanical fasteners, etc.
3.3.7 Dimensional Limits
No part of the exoskeleton may extend beyond the 2M x 3M lifting area with the operator standing erect at the position selected to begin a lift. The maximum height of an exoskeleton with the operator standing erect is 3M.
3.4 Safety
3.4.1 Load Attachment Points
The exoskeleton shall have a load attachment point capable of supporting the suit, operator and150% of the maximum weight the team intends to lift. The load attachment point must be capable of supporting the load with the power removed.
3.4.2 Emergency Stop
The exoskeleton shall have a removable power link that disables all operation. The link shall be located at the rear top center of the exoskeleton so that it can be attached to the spotting system and pulled by event staff in any situation requiring an emergency shutdown of the competitor’s system.
The E-Stop attachment point must accept a snap-hook with a snap opening of no more than 0.5 inches, such as McMaster-Carr part #3716T54 or equivalent.
3.4.3 Spotting System Attachment Points
The exoskeleton shall have rigid attachment points located at the top rear left and right for connection of the spotting system. The spotting system supports the suit and operator during a lift session in the event of a loss of balance, power failure, etc.
The spotting system attachment points must be capable of withstanding a shock load of at least 2x the combined weight of the exoskeleton and the maximum intended lift weight. The attachment points must accept a snap-hook with a maximum opening of 1.75 inches, such as McMaster-Carr part#3927T43 or equivalent.
3.4.4 Advertising - Sponsor Logos
The exoskeleton shall provide a reserved space of at least 4” x 6” on the front for display of event sponsor logos. Team sponsor logos may be placed anywhere on the competitor’s system provided that the logos:
Decisions of the event organizers regarding team sponsor logos are final.
Acknowledgements:
The Robolympics Powered Exoskeleton Competition is based on the Tetsujin© Challenge developed by Dan Danknick and T&L Publications’ Servo Magazine in 2004. Printable version of this Page. | Mail this Page to a friend. | Subscribe to our mailing list!"; } } ?>
