Chronology

19/06/15:

During our first session together, we wanted to establish the first design of our robot. We wanted to do something fun, and I remembered about a terrifying robot with a Rabbit logo in the movie Sucker Punch.

We then found the plan to design a Rabbit robot, called East3r Bunny [1]. We decided to construct this robot, as a base for our final robot.

Original Robot

Very soon, we understood that we didn't have enough pieces to do exactly the same robot, so we finished the robot without following exactly the schematics.

V1 Usalapin Robot

19/06/21:

We decided to put a set of wheels to the robot, and to test the radius the robot needs to do a full circle.

V2 Usalapin Robot

Unfortunately, with such rigid front legs, the robot was unable to normally turn, and the radius of its turning-circle was way larger than the fighting arena. Additionally, the front legs were a bit too weak. Thus, we changed the shapes of the legs, and Zenas had the idea of putting the little metallic wheels in the front.

V3 Usalapin Robot

To be able to fight correctly in the arena, but also to detect its environment, we decided to add two light sensors, one each side so that the robot can effectively detect his peripheral environment (and behave consequently). We also rearranged the cables.

V4 Usalapin Robot

19/06/25:

To prepare the robot to a bloody fight, we added in front of it, an ultrasonic sensor, so that it can detect what's in front of it, and attack its opponent. In fact, something so cute, can also be very brutal and bloodthirsty. To add, we modified the position of the light sensors to enhance the light detection and we tested our program and modified it.

V5 Usalapin Robot

19/06/28:

We made slight modification regarding our program, and modified the cable arrangements cause they were pushing the EV3 box out of the robot. Then, we went for our first field fight against Team #2's robot. We won the first two fights, but lost the third one. The reason why we've lost is because our robot was pushed out of the arena from the front, and was unable to detect it, because there's no light sensors at the back (and the light sensors at the front are directed forwardly.

We thus decided to add a third light sensor at the back, so that the robot can detect almost everything around it. Consequently, we modified the program. We did another fight, and who knew, the so-adorable-and-incredibly-cute rabbit destroyed Team #2's terrifying-cubic robot. Hey Team 2... Usalapin ra-BEAT you up!

V6 Usalapin Robot

19/07/05:

We fought against the new version of the Team 2 robot, and lost all rounds. We reduced the frictions strengths between the wheel and the chest of the robot by adding distance, and we modified the program slightly, improving the different value (speed, rotation).

Team 2 robot, do not have any light sensors, and they only rely on finding and tracking the enemy. It also means that the robot have blind angles to exploit. However, the use of 4 ultrasonic sensors, drastically modify the effectivity of our program. As a matter of fact, previously we were able to easily reach the sides of the robot and push it from there. Now, it's almost impossible and their robot seem thus to be stronger.

We believe that the behavior of Usalapin can hardly be improved, however, we have either to focus on the poi destruction or to increase our pushing strength using the 2 remaining auxiliary motors. Regarding the poi destruction, maybe we could make a spinning head, rotating very fast to pierce the opponent's poi paper.

19/07/11:

This time, we fought against all the robots, and failed for all fights expect for one. In every case, our robot didn't turn fast enough to face the opponent, and even if the robot did, it seem that every robots overpowered Usalapin.

On the first concern (i.e. the turning speed), Fukutaro had the idea of changing the size of the current wheels and to use the middle sized ones. It was an excellent idea, as the robot was able to turn way faster than before. Some concerns still remain about the gripping and strength education due to the size of the new wheel, but for now, we need more field combat to observe it. The program had to be modified (because the weight and the velocity of the robots have changed, the values of the program need to be adjusted).

About the strength of the robot, it was a very hard issue. De facto, we were not able to use more wheels (it would reduce globale velocity and mobility). Some of the robot, as team 2 robot, are able to push Usalapin out of the ring, by putting a platform under our wheel. Soichiro had the brilliant idea of adding a long spike in front of Usalapin, to push the opponent before close contacts. Additionally, this idea that was originally directed specifically against team 2's robot, may be even more useful. In fact, this "spear", even though it can represent an issue for movement, also increases our pushing like a battering ram.

For next and last session (19/07/17), the following points need to be investigated:

-How is the spear behaving in a long duel context?

-Should we reinforce the legs and modify the tip of the spear?

-Should we put more weight on the robot to increase its binding to the ground?

-We should affine the turning degree of the robot to be exactly at 180 °, and finalize the program. Should we define different programs for slightly different opponents?

-Do aluminium paper interfere with ultrasonic sensors of the oponent? Should we cover our robot with aluminium paper?

-Is the spear disturbing the ultrasonic sensors? if yes, modify the spear placement.

Usalapin with middle-sized wheels

Usalapin and its spear(/carrot)

19/07/11:

Final session. We had an issue regarding the inconsistency of the robot's movements. Zenas discovered that it was a consequence of the friction produced between the wheels and the body of the robot. Consequently, we distanced the elements, and the problem was solved.

We covered the robot with aluminium foil, for several reasons. The first one is that aluminium absorbs ultrasonic waves (plot twist: it doesn't work but we are going to pretend it works to generate terror in the battle field, especially for team 2 and their 4 ultrasonic sensors) , it also slightly strengthens the body of our robot. We modified the program and added some commands.

Usalapin Final form

New wheels

19/07/18: BATTLE TIME

Who knew... WE WON EVERY FIGHTS. Notice that the robot still showed irregularity at first regarding the precision of its turning degree. However, after some trials, it became constant. I do believe that the robot or the program need to run a few time (5-6 times) before acquiring precise, constant and accurate movements.

Sources:

[1] http://ev3lessons.com/en/RobotDesigns.html