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Marching Robot

Description:

To Build a robot to walk on two feet like a human with the assistance of an embedded system.  As we found out, accomplishing this task is not as easy as one would think.  As humans, we were taught how to walk in baby-steps, being over time our bodies could shift its weight to make walking possible with out falling over.  Getting a robot to actually walk is a similar concept.  Thus we as a group found out that a robot with only 2 degrees of freedom is severly limited to the movement of walking like a human.

Parts list/Pricing:

Arduino uno                            $29.95

M/F USB cable                         Free

4.5 VDC power supply                Free

Analog Servo (4)                      $10.00-> $40.00

Wooden Dowel Rods                $4.00

Fabric material                         $5.00

Baby Shoes                             $10.00

Duck Tape                               Free

Counter weight(a few grams)     Free

total:

Wiring diagram:


Block diagram:


Log:

 

Discuss approach to adding 4th degree of freedom for weight to balance the doll. 

4-19-11

Adding 4 degrees freedom->need servo with weight attached to it for balancing when walking. Updating code to operate the 4th servo.

4-23-11

Got robot to balance on one foot.  Need to add weight to fronts of shoes

4-24-11

4th servo disabled due to mechanical failure..

Pictures of robot:

Pictures

 

Report:

Jon_Vinnie_Melvin_Marching_Robot_Report.docx

 

Code:

Dance and wave a flag

 

Demo video:

http://www.youtube.com/watch?v=wHwU2m7W328

http://www.youtube.com/watch?v=Yz7VJ2QWO-I

ECE387 Spring 2011 Group Project Demos:

http://www.youtube.com/watch?v=LuWpi-oqNUk