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SUMOBOT PROPOSAL FORMAT

I. TITLE
a. Project title : Omptimum Pride

b. Prepared by : Acompañado, Andrie Niño

Castillion, Arjay
Gozon, Erica Mae
Catajoy, James Bryle
Pakig, Kim
Gallano, Katrina
Bohol, Niel Francis John
Jorca, John Philip
Costinar, Edmar
Maike, Mark Phil
Obado, Lark Aubrey
c. Date : October ,2024

II. Introduction
a. Overview

A Sumobot is a small, autonomous robot specifically engineered for a sport known as Robot
Sumo, or “Pepe Sumo.” This competitive activity is modeled after traditional Japanese Sumo
wrestling, where two opponents face off in a circular ring called a "dohyo." However, instead of
human wrestlers, Robot Sumo features autonomous machines battling for dominance.
Sumobots are usually equipped with sensors, motors, and microcontrollers, enabling them
to react to their surroundings and navigate the ring. These robots are designed and
programmed by enthusiasts, who use various strategies to build the optimal Sumobot. Different
configurations of sensors, materials, and programming techniques can be seen in each
competition, adding to the diversity and excitement of the sport.
Robot Sumo is a popular pastime in many countries, with tournaments ranging from local
hobbyist events to large international championships. The sport is not only entertaining but also
educational, encouraging participants to delve deeper into engineering, electronics, and
robotics.

b. Objectives of your project/Project Definition and Purpose

The Sumobot project is a robotics initiative focused on designing, building, and

programming small, autonomous robots to compete in a sport called Robot Sumo. The project is
inspired by traditional Japanese Sumo wrestling, but instead of human wrestlers, it features
robots that aim to push each other out of a circular ring. This project provides a hands-on
learning platform for participants to develop their skills in electronics, programming, and
mechanical design, while promoting creativity, strategic thinking, and teamwork.

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The purpose of the Sumobot project is to engage students and enthusiasts in applying
theoretical knowledge to practical scenarios, enhancing their problem-solving and engineering
skills. Through this project, participants gain valuable experience in building robots that can
navigate, detect, and respond to opponents using sensors and programming logic. Ultimately,
the project aims to prepare participants to compete in local, regional, or even international
Robot Sumo competitions.

Objectives:

Enhance Technical Skills:

Provide participants with practical experience in robotics, electronics, and programming
by building and customizing Sumobots from the ground up. Encourage participants to develop
problem-solving abilities by creating and testing strategies for maneuvering, detecting
opponents, and adapting to various competition scenarios. Inspire participants to experiment
with unique designs, sensor configurations, and coding techniques to optimize the performance
of their Sumobots.Strengthen teamwork skills through collaborative efforts in designing,
building, and testing Sumobots, enhancing communication and project management
capabilities.Provide a platform for applying mechanical engineering, electronics, and
programming concepts in a competitive and educational environment. Develop fully functioning
Sumobots that can compete in local, regional, or international Robot Sumo events,
benchmarking participants' skills against other enthusiasts. Ensure that Sumobots are designed
and operated in a manner that prioritizes safety and adheres to ethical standards, promoting
responsible robotics development and competition.

III. Design Approach

a. Description of the overall strategy.

The Omptimum Pride Robot is a specially designed robot built for competitive Robot
Sumo, focusing on combining both offensive and defensive capabilities. Inspired by the stability
and balance of a pyramid, the robot’s design features a low, wide base that tapers towards the
top, creating a structure that maximizes stability and weight distribution. This shape is highly
effective in maintaining balance during intense sumo matches and offers strong resistance
against tipping or being pushed out of the ring.

The pyramid-inspired design of the Omptimum Pride Robot provides a strategic advantage
by lowering its center of gravity, making it hard to destabilize and push out of the circular arena.
The sloped sides of the robot are not only useful for deflecting opponent attacks but also
prevent other robots from easily lifting or hooking underneath. This design philosophy
prioritizes strength, stability, and resistance while maintaining flexibility for offensive
maneuvers.

Advanced Strategies

Defensive Tactics:

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Hold the Center:

The Omptimum Pride Robot’s primary defense strategy is to maintain its position in the
center of the sumo ring. Its stability and balance make it difficult for opponents to dislodge it,
giving it a strong defensive stance.

Deflection:

The sloped, tapered sides of the pyramid structure are designed to deflect opponents’
attacks, particularly from robots trying to lift or hook under the bot. This feature redirects
incoming forces and prevents the robot from being tipped or flipped.

Braking Power:

A specialized braking system or precise motor speed adjustments can be employed

when the robot is under direct attack, making it more difficult to push. This technique utilizes
friction and torque control to counter an opponent's forward momentum.

Offensive Tactics:

Push and Retreat

This tactic involves making an initial, strong push against the opponent, then retreating
slightly to lure the opponent into an aggressive stance. Once the opponent is misaligned or off-
balance, the Omptimum Pride Robot charges forward again, using its powerful motors to push
them out of the ring.

Sweep and Charge

The Omptimum Pride Robot can perform a sweeping motion around the edge of the
ring, using sudden movements to confuse the opponent’s sensors. Once the opponent is out of
position, the robot swiftly charges forward, leveraging its stability and power to push the
opponent out.

Exploiting Gaps:

Using its strong base and balanced structure, the Omptimum Pride Robot can exploit any
gaps or weaknesses in the opponent’s design. It focuses on targeting the sides or rear of the
opposing robot, where defenses may be weaker, and applies pressure until it forces the
opponent out of the ring.

Project Goals and Implementation:

Maximize Stability and Balance

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Design a robot that leverages the pyramid shape for superior balance and resistance
against tipping or flipping.

Optimize Push Power:

Equip the robot with high-torque motors and a low-friction base to ensure strong
forward thrust during offensive maneuvers.

Integrate Advanced Sensors:

Use high-precision sensors for detecting opponents, staying within the ring, and
navigating defensive tactics.

Develop Robust Programming

Implement strategic algorithms that dynamically switch between offensive and

defensive tactics based on the opponent’s movements.

V. Block Diagram
a. Visual representation of system components and their relationships.

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Include key modules (sensors, motors, controllers).

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b. Design Specifications

a. List of measurable criteria for the Sumobot (e.g., dimensions, weight, speed).

•1. Key Specifications and Rule:

•Before designing, you must follow these general rules for standard sumo competitions:
- Maximum size: 20 cm x 20 cm.
- Maximum weigh: 1 kg.

•2. Design Components

•2.1”Motors”

-Type: High-torque DC motors or brushless motors. The motors need to provide enough torque
to push the opponent effectively.

- Power: Motors should have around 15-25 kg/cm of torque per motor to ensure enough
pushing force.
- Speed: A speed of around 300-500 RPM is typically sufficient for sumo bots. This gives a
good balance between power and speed.

-Number of Motors: Our sumo bots use 3 motors.

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-Motor Driver: Use a high-power motor driver such as the Sabertooth 2x32 or a similar high-
amperage driver that can handle the current drawn by the motors.

• 2.2 “Wheels”

-: High-traction rubber wheels are crucial for grip on the surface.

-Size: Wheels are typically around 50 mm in diameter and 30 mm in thickness. Larger wheels
provide more surface area for traction, but smaller wheels allow for quicker acceleration.
-Number of Wheels: Our sumo bots use 2 big wheels and 1 small wheel at the front center.

•2.3 Power Supply

-Battery: We use High-discharge-rate LiPo (Lithium Polymer) batteries due to their light weight
and high energy density.
-Voltage:We choose a 24V battery.
-Capacity: The capacity of the battery is 3000mAh is sufficient to last multiple matches without
needing recharges.

2.4 “Sensors”

-Line Sensors: These sensors detect the white boundary of the dohyo and help the bot avoid
leaving the ring.
-Type: Infrared (IR) or reflective sensors like the TCRT5000 are common.
-Placement: Our sumo bots have 4 line sensors placed near the front and sides to detect the
ring’s edge.
-Distance Sensor: Detect the opponent’s position and distance to help the bot charge toward the
opponent.
-Infrared Distance Sensors: Like the Sharp GP2Y0A21YKor similar. These sensors provide
accurate distance measurements at short ranges.
-Behavior Strategy: Simple behavior strategies such as “attack when close” or “evade when near
the edge” can be implemented.

•3. “Design and Layout”

1. Chassis: Wedge-shaped with the front designed to get under the opponent. The center of
gravity is kept low.
2. Motors: Two high-torque and motors driving the wheels.
3. Wheels: Two high-traction rubber wheels placed at the rear for maximum power
transfer and 1 small wheel at the front center of the sumo bot.
4. Sensors:
- Two front-facing distance sensors to detect the opponent.
- **Two line sensors** underneath the bot to detect the white edge of the ring.
5. Control Unit: A microcontroller like Arduino Mega or Raspberry Pi is used to receive
sensor data and control the motors.

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•5. “Control Strategy”

-Opponent Detection: The distance sensors will detect when the opponent is within a certain
range. Once detected, the bot will charge toward the opponent.

-Edge Detection: If the line sensors detect the edge of the dohyo (white line), the bot will reverse
or turn to avoid going out of the ring.

-Aggressive Behavior: The bot will continuously move forward and adjust direction based on
sensor inputs to maintain pressure on the opponent.

-Defensive Maneuvers: The bot can perform evasive maneuvers when close to the edge of the
ring to avoid getting pushed out

a. Mechanical Design and CAD Models

b. Overview of the physical structure.

The pyramid structure provides a stable, low-center-of-gravity design, which can be

advantageous in these competitions.

Physical Structure:

Shape: The pyramid design is chosen for its stability. The base of the robot is wide, giving it a
low center of gravity and making it difficult to tip over.

Base Platform: The robot typically has a square or rectangular base with a pyramid-like
superstructure on top. The platform houses essential components such as motors, battery,
sensors, and control boards.

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Wheels: The Pyramid Design Sumobot moves on wheels. The wheels are positioned at the back
corners for maximum stability, and have a small wheel in center front allowing for smooth and
balanced movement.

B. Materials and fabrication techniques used

Chassis: The chassis is the main structural framework of the sumobot. It serves as the base to
which all other components, such as motors, batteries, wheels, sensors, and electronics, are
attached.

Material - Acrylic or Polycarbonate

Reason to use - These materials are used for lighter robots. As the rules indicated the limited
weight of the sumobots, we need to also limit the weight of our Pyramid Sumobot. They are
available to laser cut, shape, and form into complex structures and provide sufficient strength
for many competition-level sumobots.

Wedge: The wedge is a strategic, often sloped part at the front of the sumobot designed to get
underneath the opponent, lift them, and push them out of the ring.

Material – Aluminum

Reason to use – Aluminum provides a good balance between strength and weight, making the
sumobot faster and more agile. It doesn’t rust, making it a durable option over time.
And is easier to work with in terms of cutting and shaping for a custom wedge design.

Wheel: The wheels play a critical role in ensuring that the sumobot can move quickly and push
opponents with force.

Material - Rubber or Neoprene

Reason to use - We used it for their excellent grip on the competition surface, so our robot can
push opponents and preventing your sumobot from slipping during matches.

Fabrication techniques:
3D Printing(for Polycarbonate ) - for rapid prototyping and lightweight parts if needed.
Sheet Metal Forming (for Aluminum ) - to shape the aluminum wedge.

c. Include screenshots or links to CAD designs.

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d. Brief description of each design’s significance.

b. Electrical Component List

a. Comprehensive list of all electrical components used (e.g., microcontroller, motors,
sensors).
 Arduino Mega
 Ultrasonic Sensor
 Impact Switch
 IR Sensor
 Motor Drive Module

b. Specifications for each component (model numbers, ratings).

SENSOR MODEL LENGTH WIDTH HEIGHT VOLTAGE AMPER
NUMBER RATE RATE
ARDUINO MEGA 2560 110mm 53mm 15mm 7-12V 20mA
MEGA
ULTRASONI HC-SR04 45mm 20mm 10mm 5V 2mA
C SENSOR
IMPACT COLLISION 25mm 14mm 6mm 125V 2mA
SWITCH SENSOR
IR SENSOR TCRT5000 32mm 14mm 5mm 5V 10-60mA
MOTOR L298N 70mm 54mm 18mm 6.5 – 12 V 2A
DRIVE
MODULE

c. Programming
a. Brief description of the programming languages and platforms used.
Programming Language:
The robot will use a simplified version of C++ designed to make programming
more accessible for hobbyists, students, and engineers working with embedded systems.
This variant is built on the C++ language but abstracts many complex aspects, allowing
users to focus on interfacing with hardware.
Platform:
The Arduino IDE supports a custom version of C++ and provides built-in
libraries, along with common functions for controlling hardware components like
sensors, motors, and LEDs. It features two main sections: a code editor for writing

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sketches (Arduino programs) and a serial monitor for communicating with connected
devices. The IDE allows seamless uploading of code to Arduino boards via USB

b. Overview of algorithms (e.g., control algorithms, sensor processing).

Control Algorithms:
The Sumobot uses and Open-Loop Control Algorithm. An Open-loop control system is the
simplest control type. This control type does not obtain feedback to correct its potential poor
performance, hence the name “open-loop control”. (Nian R., 2018)

Sensor Processing:

Collision Sensor

int pingpin = 2;
int led = 13;

void setup ();

{
Serial.begin(9600);
pinMode(led, OUTPUT);
}

void loop();
{
long duration;
double cm;

pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds (2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);

pinMode (pingPin, INPUT);

duration = pulseln(" us");

delay(100);
}

HC-SR04 ultrasonic

const int trigPin = 9;

const int echoPin = 10;

float duration, distance;

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void setup() {

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

Serial.begin(9600);

void loop() {

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration*.0343)/2;

Serial.print("Distance: ");

Serial.println(distance);

delay(100);

IR Sensor Module

int IRSensor = 9; // connect IR sensor module to Arduino pin D9

int LED = 13; // connect LED to Arduino pin 13

void setup(){

Serial.begin(115200); // Init Serial at 115200 Baud Rate.

Serial.println("Serial Working"); // Test to check if serial is working or not

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pinMode(IRSensor, INPUT); // IR Sensor pin INPUT

pinMode(LED, OUTPUT); // LED Pin Output

void loop(){

int sensorStatus = digitalRead(IRSensor); // Set the GPIO as Input

if (sensorStatus == 1) // Check if the pin high or not

// if the pin is high turn off the onboard Led

digitalWrite(LED, LOW); // LED LOW

Serial.println("Motion Detected!"); // print Motion Detected! on the serial monitor

window

else {

//else turn on the onboard LED

digitalWrite(LED, HIGH); // LED High

Serial.println("Motion Ended!"); // print Motion Ended! on the serial monitor window

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c. Flowchart of key programming logic.

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d. Data Flow Diagram

a. Visual representation of how data moves through the system.

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e. Special Features
a. Discuss the special mechanism and/or unique functionality.

f. Cost Analysis
a. Spreadsheet / Table

g. Reference
Nian R.(2018). Controls: Comparison between 4 popular control strategies
https://medium.com/@ruinian/controls-comparison-between-4-popular-control-strategies-
d1f3a3b61eb1.

V
Font style: Cambria Font size: 11 Spacing: at least Page number position: Lower right Picture
size range: 2’’x 3’’ to 4’’x 5’’

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