A robot is defined as a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance .
Typically a robot is an electro -mechanical device that is guided by computer and electronic programming .
So I decided to try my hand at robotics, and what appealed to me the most was the Biped as it involves movement and balance. For this Ide be able to incorporate servos and accelerometers.
The Final Biped is a two legged Arduino controlled actuated robot with 8 Degrees of Freedom (DOF) and accelerometer feedback.
This is my first time using Arduino, servos and accelerometers so this may not be the best way to go about the final robot but it seems to be working as intended.
After much research I decided to go with the Arduino as it has Servo libraries which makes life a lot easier. Instead of creating 8 different PWM (pulse width modulation) signals for each servo, one can just set the rotation using a single command. (I will post code later). The Arduino I went with is the MEGA250 which has 14 PWM pins , Im only using 8 for the servos, also more than enough Analogue inputs for the accelerometer.
The Arduino does not come with an istallation cd so the software can be found at the following link:
It also doesn't come with the USB cable.
You will have to install the Arduino drivers, they come with the download. A "how to" google search should help.
The servos I used are HD-1501MG which have the minimum torque I would suggest for a biped of this size as it struggles in some positions. I purchased 8 from microRobotics. Heres the link to the product, you can also view the specs:
As far as precision is concerned, these are probably not the best option, but anything more high end was too expensive considering I needed 8.
The accelerometre is an ADXL330 which I picked up off an old project. A gyroscope from a broken WII remote works well too.
The structure of the BOT is Perspex, I cut it from a single sheet and rounded the edges.
I used many nuts and bolts, and a glue gun to hold it together.
An example of a biped with serial communication, Also has a nice GUI which I adapted to work with mine:
A similar Project, which I used the code as a template for my code:
A nice tutorial on how to get the robot walking:
Step 1: Structure - Perspex
- I used a Table saw for the long cuts and a jig saw for the short ones.
- I used a grinder to round the edges.