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Project Details
LOTP Robot Dog
Prototype-2
09.2020 - 01.2021
This Project has been awarded the first prize of Regional Science and Technology Competition from TUBITAK and selected as a finalist project in Robotics & Coding branch. This project is participating Countrywide Competition Finals which is still ongoing.
I prepared the whole robot, modules, control actuator, chassis and mechanism designs, 3D prints, energy consumption and distribution planning, circuit diagrams and data distribution network. In addition, I coded communication protocols and software, sensor usage software, robot control, motion and autonomous software. I used PI (Proportional - Integral) control in these software. I wrote the inverse kinematics formulas myself and I developed my own kinematics formulas and applied them successfully. As a microcontroller, I used teensy 3.5 in the computer unit and Arduino in the modules and in the control actuator. I prepared the software in Arduino language. This project of mine has been completed.
Features:
A. Modular structure, open to development: With the "Plug and play" logic, new modules can be installed on it and new capabilities can be gained, and the operational time can be increased with additional battery modules. Within the scope of the project, in addition to basic units such as computer, battery and regulator units; I also prepared a drone station, lidar, hazardous gas module and backup battery unit.
B. Updatable software: With its updatable open source software, many new characteristics and behaviours can be added.
C. Autonomous features: The ability to change direction according to obstacles while walking, avoiding objects approaching while standing, adjusting the body height to protect when pressure is applied, maintaining balance on inclined surfaces, are the autonomous behaviours robot can perform.
D. Remote control: With Wi-Fi access, it can be controlled remotely with the control actuator. The images of camera and data of the sensors on the robot can be reached and viewed from the control actuator.
E. Detection capacity: It can detect obstacles in front of it with the lidar module, and it can measure the levels of explosive, suffocating and toxic gases in the air with the gas detection module. Pressure sensors can detect the external pressure applied to the legs, and the body inclination can be measured by the gyroscope. It can get geographic latitude and longitude coordinates with GPS.
Movement capabilities:
A. Fixed posture movements: With the successful application of inverse kinematic and kinematic models, axial and vectorial movements can be directed in different directions in x, y, z axes during the stationary stance.
B. Walk: It walks in Trot style. While 2 feet are on the ground at any time, 2 feet are up in the air and full movement takes place in 2 stages. I successfully used the kinematic model I wrote in walking algorithm.
- Designed with Fusion 360 and printed with Anet A8 (3D Printer)
- Coded in Arduino language on Teensy 3.5 & Arduino
- Circuit Diagrams designed on Fritzing
- Modular structure (Lidar, Drone, Gas detection)
- Sensors Capacity: Lidar, Gas detection, Pressure sensors, Gyroscope, GPS, Wi-Fi connection
- Autonomous features (Avoiding obstacle, maintain balance, pressure control)
- PI (Proportion - Integral) control
- Inverse Kinematics & Kinematics formulas applied
- Remote Controller access through WiFi
- FPV Camera and Monitor setup
- Open Source https://github.com/SMDHuman/LOTPRobotdog2
More about Project: https://www.youtube.com/watch?v=BUy5MB7Do1M
Articles written by independent bloggers
- https://hackaday.com/2022/12/21/2022-fpv-contest-the-lotp-robot-dog/
- https://www.electromaker.io/blog/article/electromaker-of-the-month-november-winners
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