3.Gathering Pertinent Information - M-Division-2020-2021-Even/Repo_09 GitHub Wiki
1.Introduction
A hexapod robot is a mechanical vehicle that walks on six legs. Since a robot can be statically stable on three or more legs, a hexapod robot has a great deal of flexibility in how it can move. If legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot's legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload. They also combine ingredients related to omnidirectional traversal, irregular geometry, excellent support, entry to various regions along the fault-tolerant motion. Traversing robots are indeed complex and quite valuable machines consisting of many servo motors, ultrasonic sensors, Arduino board, and few modules related to camera, Wi-Fi, and other supporting hardware. Many hexapod robots are biologically inspired by Hexapoda locomotion. Hexapods may be used to test biological theories about insect locomotion, motor control, and neurobiology.
Need of the Bot
Walking robots are an important alternative to driving robots since the majority of the world's land area is unpaved. Although driving robots are more specialized and better adapted to a flat surface โ they can drive faster and navigate with higher precision โ walking robots can be employed in more general environments. Walking robots are an important alternative to driving robots since the majority of the worldโs land area is unpaved. Although driving robots are more specialized and better adapted to a flat surface โ they can drive faster and navigate with higher precision โ walking robots can be employed in more general environments. Walking robots follow nature by being able to navigate rough terrain, or even climb stairs or over obstacles in a standard household situation, which would rule out most driving robots.
Step 1 -Tools and Material Required
1.Ardunio Arduino is an open-source hardware and software company, project, and user community that designs and manufactures single-board microcontrollers and microcontroller kits for building digital devices.
2.Micro servo Electronic devices and rotary or linear actuators that rotate and push parts of a machine with precision. Servos are mainly used in angular or linear positions and for specific velocity, and acceleration.
3.Wires: Wires used for connections.
4.Cardboard: Used for support and body.
5.Soldering Iron (with solder). A soldering iron is a hand tool used in soldering. It supplies heat to melt solder so that it can flow into the joint between two workpieces.
6.Hot Glue gun. Hot melt adhesive (HMA), also known as hot glue, is a form of thermoplastic adhesive that is commonly sold as solid cylindrical sticks of various diameters designed to be applied using a hot glue gun. The gun uses a continuous-duty heating element to melt the plastic glue, which the user pushes through the gun either with a mechanical trigger mechanism on the gun, or with direct finger pressure.
7.Cutter. one that cuts: a : one whose work is cutting or involves cutting wood/glass cutters. b(1) : an instrument, machine, machine part, or tool that cuts. (2) : a device for vibrating a cutting stylus in disc recording also : the stylus or its point.
8.Ultrasonic sensor. An ultrasonic sensor is an electronic device that measures the distance of a target object by emitting ultrasonic sound waves and converts the reflected sound into an electrical signal. Ultrasonic waves travel faster than the speed of audible sound.
step 2 - Preparing Servos
The first thing that you need to do is to attach the servo horns to the servos. Keep in mind that you can't just attach them to the servo, it has to be done properly or you will encounter problems later. Now that you have attached the horns to the servos, it is time to glue the servos together. Both the servo sets are attached in different ways so be careful while gluing them. I have attached pictures which you can use as a reference to attach the servos together. Try to keep the horns are as close to 90 degrees as possible.
After that, take a piece of cardboard and glue both of the servos on it and cut extra cardboard out. One way to ensure that you do this properly is to make sure that the screw mounting part of both the servos is touching. Make sure to keep the wire part on the outside.
step 3 - Attaching the Arduino
Once that is done, take a rectangular piece of cardboard (measured 6.4 x 5.4 cm) and hot glue it to the backside of the servos as shown in the pictures. You can round the corners to make it look a bit neater.
After that, take the Arduino and hot glue the backside of the Arduino (the white side) to the cardboard as shown in the pictures. This MAY damage your Arduino (highly unlikely) so if you do this, it will be at your own risk.
The only thing left to do now (in terms of hardware) is the wiring.
step 4- Wiring the Servos
The way I have done it, it looks a bit confusing but believe me, it isn't. The red wire of the servos are positive, the brown are negative and the orange wire is the signal wire. So, all you have to do is to solder all the red wires together and then solder a stiff piece of wire to that which connects to the 5v pin of the Arduino. Then, solder all the brown wires together and attach a solid piece of wire to them. This wire will connect to the GND pin which is below the 5v pin. (Wiring diagram attached)
After that, you will be left with four orange wires or signal wires. Before soldering them to a stiff wire for connection, you have to understand the naming for the servos. Looking from the pin side of the Arduino, the servo on the top right is the right thigh servo. The one below it is the right foot servo. The servo at the top left is the left thigh servo and the one below it is the left foot servo. Connect the right thigh signal wire to pin 5, the left thigh signal wire to pin 11, the left foot signal wire to pin 3 and the right foot signal wire to pin 9. Make sure that all of the signal wires are attached to the pins with a squiggly line before them (PWM pins). (Wiring diagram attached)
step 5- Choosing Power Source
Now comes the time to choose whether you will be powering the robot using USB power (which is inconvenient and causes occasional disturbances) or using six AA cells. I chose the latter, although it's entirely your choice what you want to do. The problem with AA cells is that they run out in a few hours. If you chose USB power, all you have to do is to connect a printer cable and power it with that (mine didn't work like that, it kept on falling), but if you chose AA cells then its a little bit more complicated. If you are using USB power (which I don't recommend), you can a power bank to make it more portable.
First of all, you have to create the 9v power supply which is just 3 3v AA battery packs soldered to each other in series. Then, you have to wire the 9v pack to the power jack on the Arduino (the wiring diagram is attached). The power jack has 3 pins one on top, one on bottom and one on the right (pic attached). The one at the top and the one at the right are the ground pins. The negative wire of your battery pack connects to one of them. The one at the bottom is the 9v pin, the positive wire of your battery pack gets soldered to that.
Once again, soldering wires directly to that is can damage your Arduino (although its unlikely), so do this at your own risk.
step 6 - Adding Feet
The next step is creating the robot is to attach feet to the base of the robot. For feet, I used a 6.2 x 4.6 cm piece of thin sheet wood for the feet. At first, I had used cardboard but that was very floppy and unsuitable so I opted for sheet wood. All you have to do now is to hot glue the wood onto the feet servos of the robot. Try to glue the servos at the exact middle of the feet.
step 7 - Programming
Now that we are done with the hardware part of the robot, it is time to work on the software. To upload the code to the robot, you need to download the Arduino IDE software. It can be downloaded from here. Once that is done installing, connect the Arduino to your PC via the USB printer cable. Then open the Arduino software and go to the 'Tools' from the toolbar and it should say Arduino/Genuino there. Click on ports and select the one with Arduino/Genuino next to it. Then we need to enter the code. After some time, it should say Done Uploading and if you have done everything right, your robot should start to move.
Keywords
- Dynamic Balance
- Humanoid Robot
- Obstacle detecting Biped Robot
reference: https://www.instructables.com/Simple-Humanoid-Walking-and-Dancing-Robot-Arduino/ video: https://www.youtube.com/watch?v=QveDVkUwDHU