Let's Make Robots!

Small Quadruped Robot

Navigate around via ultrasound
Quadruped_Files.zip178.55 KB
Quadruped_Files_2.zip317.85 KB

UPDATE : October 23, 2012
Apparently some guys got trouble opening the CorelDraw files attached before. So I exported those files into various extension : cmx (to be opened in any CorelDraw version), pdf & eps (for Adobe Illustrator). They're attached as "Quadruped Files 2.zip"

UPDATE : October 15, 2012
Attached the arduino code, CorelDraw file for circuit board & laser cut acrylic.
Sorry for not attached these file before. The code is lame and very unprofessional, so you might want to use your own code.. :(

Hi, I'm new to LMR as a member. But I've been browsing around LMR to learn robotics.

First, sorry for my bad English.

I finished making my quadruped robot a couple weeks ago. It was my first robotic project using microcontroller. In fact, it was my first microcontroller project. Unfortunately it wasn't well documented during the making process since I didn't plan to publish it before. :( So here is what I can collect from scattered file in my PC..



It's a wandering quadruped robot with only one ultrasound sensor. Therefore I programmed the robot to rotate left then right (or opposite, randomly) when there's obstacle in front. Then the robot compare which direction has further distance to walk by.




I didn't use inverse kinematics for legs movement. Why? Because I hadn't learn it yet! :P See, I'm bad in mathematics.. :(
I don't know what kind of gait I used, but I have ever read somewhere that it called "crawl" gait (correct me if I'm wrong).
The microcontroller is ATmega328 with arduino bootloader. I'm very lucky there is this PCB maker in my town willing to make PCB without minimum order. So I ordered this custom arduino compatible board with extension pins for servos.







I use 12x HXT900 micro servo (3 DOF each leg). Body frame & legs built from laser cut acrylic board, some screw, bolt & spacer. I designed it with Corel Draw software, which I'm more expert using it than using microcontroller cause I'm a graphic designer. :P 
I haven't measure its weight yet, but dimensions are about 180 mm length & width, 140 mm height. 



So, there it is..
Just ask it if you have questions. Any suggesstions, critics or comments are apreciated. 
Thank you..

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very nice,
I think the legs need some rubber shoe.

Thanks for your suggestion mfal.
I'll try it.. 

Nice one! Are you using lipo 7.2V+ directlly to the servo? It won't burn? I have always using regulator to 6V for safety reason. If that works well, maybe I don't need to use regulator anymore.

Yup!! But still use your regulator hardmouse!!!
What I did is just a bad example. You can see how my servos jitter.
I'd burnt a few servos before because of this..

Yikes~ I am so hoping someone can told me that "you don't have to use regulator anymore!!" LOL
Anyways, glad to see another graphic designer doing their none-professional works!

I will post up mine hexapod soon.

I really like your quadbot-[frog].
Can't wait to see your hexapod hardmouse !!

I just post it ;)

Damn that's fast!
I blame you if I late for work tomorow morning (had to see your robot, and it's already late in my country)


Beautiful bot !

Thanks legwinskij
But we both know yours is more beautiful.. :D