Robot's cunstruction

17 Oct 2012

Finally I have finished the construction of my 5-legged walking robot. It is 30 cm height and weights 2.1 kg.

In the picture bellow, there is a set of parts before assembling:

And a result after assembling:

Robot's control system is based on the STM32F4 microcontroller. It is equipped with a rich set of sensors, shown on the diagram below. Robot is controlled from a PC through Bluetooth interface.

The robot is powered from a Li-pol battery (2100 mAh, 11.1 V). On the PCB there is an integrated charging and balancing system for the battery. There is also a buck converter to power all 15 servomotors from a voltage of 6 V.

The main objective of this project was to create a five legged vehicle and to evaluate its walking abilities. The secondary goal was to obtain an affordable robotic platform, which will facilitate further research.

In the future I will place here a video of working robot.

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balearicdynamics over 8 years ago

I am interested to the software that control the movement, and the kind of simulation movement (and the speed reachable too).
Looking forward for this nice project evolution

Enrico
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Former Member over 8 years ago in reply to balearicdynamics

There are a lot of 6 legged robots and it is a well known subject. I wanted to built something less common and test it. The gait of this 5 legged robot is stable and can change its direction of movement without a rotation. Here is a video: https://www.youtube.com/watch?v=u9ZT97AHL5o
In nature there are also some animals with 5 legs: a starfish

https://www.element14.com/community/blogs/pentopiliones
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balearicdynamics over 8 years ago in reply to Former Member

Interesting video. it seems that there is again something to arrange in the movements fluidity. IMHO it seems that there is a sort of short stop point everytime the movement kind changes.

BTW, the problem of the number of legs is not strictly related to the kind of movement, 5 legs may work with the same performances than a corresponding six-legged robot. The real key point is the movement mathematic model that is applied to the robot.

Enrico
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DAB over 8 years ago in reply to Former Member

I stand corrected, your five legged robot does fine over all kinds of terrain.

Since it only moves two legs at once you get a nice stable position with just three legs, it should indeed be a versatile platform for further experiments.

Well done.

DAB
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DAB over 8 years ago in reply to Former Member

I stand corrected, your five legged robot does fine over all kinds of terrain.

Since it only moves two legs at once you get a nice stable position with just three legs, it should indeed be a versatile platform for further experiments.

Well done.

DAB
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