The designed quadruped robot has 12 degrees of freedom (3 per leg). It is 100% autonomous, so it means that it is able to:
- avoid collisions. It is equipped in 2 ultrasonic sensors, so it has feedback not only about the distance from the obstacle, but also about the direction from which obstacle is coming,
- recognize whether it is standing on the ground or not. Due to this fact, it will also not fall, for example, from the edge of the table,
- be aware of position of every feet (which can vary). It allows robot to know if it stays on a plane ground or if, for example, one feet is higher.
Lower part of the body. 2 - ultrasonic sensor, 4 - 6V NiMH battery pack, 6 - Arduino Mega 2560, 7 - 9V battery
Complete body.
The project consists of three main parts: mechanical, electrical and software. Main electrical part goals were:
- to find sufficient and reliable source of power,
- to create complete electric circuit.
Main mechanical part goals were:
- to choose proper servomechanisms,
- to design mechanical parts of the robot,
- to create functional 3D printed model.
Main software part goals were:
- to create mathematical model of robot's behaviour (inverse kinematics, translation, rotation, Kalman filter for noise reduction etc.),
- to write a code (including creation of the libraries necessary to control the robot).
Complete leg.
Secondary target was to make various visualizations used during the presentation of the project.
