Ez Arduino 8 DOF Quadruped Robot

thingiverse

This robot is outdated, see the updated version here. The quadruped robot is driven by an Arduino board and utilizes low-cost Tower Pro 9G servos. It offers two play modes: autonomous and Android app-controlled. In autonomous mode, the robot walks randomly in different directions every five seconds. The ultrasonic distance sensor allows it to avoid obstacles in its path. Video Demo: https://youtu.be/QG3WbcEscfI Electronics for Demonstration: 1. Genuino with on-board SPP-C-Bluetooth-UART board. 2. A 3.7V 18650 lithium-ion battery pack (two 18650 batteries connected in parallel). 3. Eight Tower Pro 9G servos. 4. An HC-SR04 ultrasonic distance sensor, which is optional for obstacle detection. 5. A SPP-C Bluetooth UART or equivalent for Android phone control. To charge the battery, you can use a charger dock designed specifically for this purpose. If you're using an Arduino board other than Genuino, you may need to purchase an I/O shield for connecting servos. However, experienced makers can opt for a proto board and create their own customized setup. The robot's body is a chamber that holds two 18650 lithium-ion batteries. You'll also need to consider the power regulator when designing your project. Hardware: 1. Dupoint wires. 2. Eight M2x4 tapping screws for servo arm clips, and M2x6 tapping screws for other components. Software: 1. Arduino code available on GitHub. 2. Android app available on Google Play. Alternatively, you can use the software from another design: 2317065 (demo video: https://youtu.be/Htz4qVPmL7Y). Wiring Connection: The digital pins of the Arduino are connected as follows: 1. D2 to front right hip servo. 2. D3 to front right leg servo. 3. D4 to back right hip servo. 4. D5 to back right leg servo. 5. D6 to back left hip servo. 6. D7 to back left leg servo. 7. D8 to front left hip servo. 8. D9 to front left leg. 9. D10 to HC-SR04 trigger pin. 10. D11 to HC-SR04 echo pin. 11. D12 for play mode selection, set to 0V (low state) or 3.3V (high state). 12. Bluetooth UART module connected to the board's Bluetooth connector. Initial servo angles must be set to 90 degrees, as shown in the initial posture photo. The HC-SR04 power input is connected to the 5V pin. Print Settings: * Printer: RepRap * Printer Model: Prusa i3 * Rafts: No * Supports: Yes * Resolution: 0.2mm * Infill: 10% Notes: Print two sets of legs.stl. The clips should be printed with 100% infill. Custom Section: How to Play: D12 digital pin selects the play mode. When D12 is in a low state, the robot operates in autonomous walking mode, changing direction randomly every five seconds. If the ultrasonic distance sensor detects an obstacle in front, it will avoid it. When D12 is in a high state, the robot is controlled by an Android phone with Bluetooth UART installed. To control using the app, first pair the Bluetooth UART with your phone. Then select it from the setting menu of the app. Use the arrow buttons to control the robot's walking.