2. GATHERING PERTINENT INFORMATION - P-Div-Engg-Exploration-Odd-2026-27/Repo-02 GitHub Wiki
Basic Info
The Desktop Insect Walking Toy is a six-legged robotic system designed to mimic the natural walking motion of an insect. Instead of traditional wheels, the robot utilizes a mechanical linkage system to achieve movement, providing high stability and a unique mechanical aesthetic. The model integrates a coordinated leg mechanism, multi-directional obstacle sensing, and a centralized electronic control system for autonomous locomotion.
Movement System
The robot uses a six-legged (hexapod) mechanism that employs an alternating tripod gait, ensuring three legs are always on the ground to maintain perfect balance. The legs are driven by dual DC geared motors—one controlling the left side and one controlling the right. Using a crank disc system, the motor's continuous rotary motion is physically translated into a synchronized walking pattern. Because the left and right sides operate independently, the robot utilizes differential steering to walk forward, reverse, or pivot in place.
Obstacle Detection System
To navigate autonomously and prevent collisions, the walking toy is equipped with three front-facing analogue IR (Infrared) sensors. These sensors continuously emit infrared light and measure the reflection to detect nearby objects across a wide front field of view. If an obstacle is detected within a set range by any of the sensors, the hardware sends a voltage signal to the control unit, prompting the robot to stop, back up, or pivot to avoid impact.
Control & Operation System
An ESP32 microcontroller functions as the central control unit. It continuously receives input signals from the 3x IR sensors and processes them to dictate motor speed and direction in real-time. The microcontroller manages the steering logic, handles visual status feedback through integrated LEDs, and coordinates the autonomous behavior. The entire system is powered by an onboard rechargeable Lithium-ion battery, ensuring completely tether-free, standalone operation.
Basic Components
| Sl.No | Component | Description | Image |
|---|---|---|---|
| 1 | ESP32 | The main brain (microcontroller) that processes code and controls the robot, featuring built-in Wi-Fi and Bluetooth. | |
| 2 | 3D Print Material | Plastic filament (like PLA) used to build the robot's outer shell and structural parts. | |
| 3 | IR Sensor | Detects obstacles in front of the robot by bouncing infrared light off objects (e.g., Analogue IR Sensor). | |
| 4 | DC Geared Motor | An electric motor with a gearbox that increases torque to spin the wheels and move the robot. | |
| 5 | LED | A small light used to indicate power, status, or sensor detection. | |
| 6 | Lithium-ion (Li-ion) Battery | A rechargeable, high-capacity battery that provides reliable power to the robot's motors and electronics. | |
| 7 | Servo Motor | A motor that allows for precise control of angular position, ideal for robotic joints, arms, and steering. | |
| 8 | Stepper Motor | An electric motor that divides a full rotation into precise steps, perfect for accurate positioning and controlled movements. | |
| 9 | Linear Actuator | A mechanism that creates motion in a straight line, used for pushing, pulling, or lifting parts of a robot. | |
| 10 | Ultrasonic Sensor | Measures distance to objects by emitting high-frequency sound waves and timing how long the echo takes to return. | |
| 11 | LiDAR Sensor | Uses rapidly pulsing lasers to measure distances and create highly accurate, high-resolution maps of the environment. | |
| 12 | ToF (Time of Flight) Sensor | Accurately measures distance by calculating the exact time it takes for a pulse of light to travel to an object and back. | |
| 13 | Arduino Uno | A standard, beginner-friendly microcontroller board used as the "brain" for basic electronics and robotics projects. | |
| 14 | Arduino Nano | A compact, breadboard-friendly version of the Arduino Uno, perfect for projects where space is limited. | |
| 15 | Raspberry Pi | A powerful single-board microcomputer capable of running a full operating system, used for advanced tasks like computer vision. | |
| 16 | Lithium-Polymer (Li-Po) Battery | A lightweight, flexible rechargeable battery known for extremely high discharge rates, commonly used in drones and RC vehicles. | |
| 17 | Rechargeable AA Batteries | Standard-sized cylindrical reusable batteries, great for powering simple circuits, sensors, or small standalone modules. | |
| 18 | USB Power Bank | A portable, ready-to-use battery pack with integrated charging circuits, ideal for easily powering 5V development boards. | |
| 19 | ATtiny Microcontroller | A small, low-power, and inexpensive microcontroller (like the ATtiny85) perfect for simple robotics projects that don't need a full-sized board. | |
| 20 | BO Motor | A lightweight, inexpensive "Battery Operated" DC gear motor with a plastic gearbox, widely used in beginner robot chassis and DIY smart cars. |