Rocking Body Walking Robot Drone #5 steerable version

thingiverse

This is my remix of RobotHuts "Rocking Body Walking Robot Drone #5". I built his original design and several others he's posted to Thingiverse. His original design is a pin walker driven by one motor/gearbox. It walks in a straight line when you turn it on. I decided to build a remote controlled steerable version. It has two N20 gearmotors driven by a L9110S dual H bridge. An Arduino Pro Mini controls the motors with feedback from a cam and switch on each leg. The Arduino uses the feedback to keep the motors in sync. The Arduino receives commands from an IR remote through a TSOP4838. The IRLIB2 Arduino library is used to decode the 12 bit Sony codes. The universal remote is set for a Sony VCR. Power is provided by the guts of a 2600 MAH power bank. The 18650 cell has solder tabs which is important to make everything fit in the robot. The charge board in the power bank also boosts the cells voltage to 5 Volts. It works well even it's a little slow. The motors are rated at 30 RPM at 6 Volts. The drone/robot was printed on an Ender 2 and a FolgerTech 2020. The 3D printed parts needed from RobotHuts design are: footclip 2, latch 1, bodyBack 1 / the door will be replaced, foot 2, leg 2, bodyFront 1. The motor frame and body frame are the two big parts that need replacing. The rest of the parts are clamps, mounts, and cams. The two cams are marked left and right. The tilt cam goes on the right side and is keyed. The battery clamp is what the charge board is mounted to with hot glue. The switch mounts are the stepped plates that the switches are mounted to. You need two of them. The switch mount is then mounted to the motor clamp with screws and nuts, and adjusted using the slots. There are a left and right motor clamp. The V on the motor clamp points to the front of the robot. The leg pins are a different length than RobotHuts original design and you need two. The Arduino mount and mtr_drv_clamp are stacked with the L9110S and Arduino and screwed to the lower holes in the motor frame. My video shows how it works: https://www.youtube.com/watch?v=a80CQ_oQmnA Parts I used: roller switch, slide switch, Arduino Pro Mini, TSOP4838 IR receiver. Update: I built an Attiny based IR remote for the robot: https://www.thingiverse.com/thing:3566978. I replaced the Arduino program on this page with the same program on that page. It still works with a universal remote. The program also has some bug fixes.