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..

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

Very well done and welcome to LMR!

I like the design very much and the walking is just awesome. I mean, all the jitter and shaking looks much more real than straight clean movements. Keep going this way that we can see more :-)

Edit: The board is just perfect!!!

Thank you lumi ..
Some of my friends think the same way with you about the shaky thing.

I like your cute looking mouse bot!! You should make a lot of them with different kind of mouse case..  :)

Haha, the mouse bot...maybe there will be some new ones later but right now I am focusing on the Stray and the Swarm bots.

I just found out that your swarm bots had won a competition.
Congratulation lumi  !!  \oo/

are you indonesian??

anything about the robots??

gw baru bikin line tracer aj bos. boleh minta list komponen ama layout pcb nya ga' boss? mw coba bikin

First, let me translate your comment so it can understood by others :

"May I ask for components list & the pcb layout?"

Well, my answer is : Have you even read my post?

I'd tracked your posts :

I'm sorry if you offended by this: You embarrass other Indonesians!

Even if you don't write english fluently, you still can use your manner.
I myself strugle to write in english, of course with a lot of mistakes. 
But even in Bahasa Indonesia it's rude to ask something with a very few words, it's like you ordering someone to do what you wanted. You should put some effort too before you ask any help. For example: read troughout a post before you ask something already put in the post. When you put a link which directing to a website that is not in english, you should explain what the site is write about. 

Well, I won't tell you further about manner anymore. You're an Indonesian for Godsake, a country with a great manner.
Don't embarrass other Indonesians!!

That's something I haven't done!!!! Great legwinskij ! Thank you.. 

But I need a little more help about this. I need to understand your code before apply it.
Is the idea of attach/detach commands are used to get rid electrical noise after the servos get their position?? 
I know it works (you've already done it..), but how come the servos didn't lose their last position (losing torque) after detached?
Can arduino's servo library hold a servo last position even after it detached?

After you detach them they lose torque unfortunatelly, but friction of the gear is holding them in position, if youre not applying too much force.