Four Legged Companion Robot
In this modern era, there is always need to replace the humans with intelligent machines in order to process work efficiently and effectively. A very blooming and swiftly developing concept in the area of robotics field is replacement of wheeled robot with legged robot structure, which is similar to
2025-06-28 16:27:25 - Adil Khan
Four Legged Companion Robot
Project Area of Specialization RoboticsProject SummaryIn this modern era, there is always need to replace the humans with intelligent machines in order to process work efficiently and effectively. A very blooming and swiftly developing concept in the area of robotics field is replacement of wheeled robot with legged robot structure, which is similar to a dog used to perform specific tasks with flexibility. The project implements Robot Localization and Locomotion using Obstacle detection and different gaiting patterns to process the companion feature for indoor to outdoor movements. The process consists of four steps: Joints Movement having 3-DOF’s per leg and overall, 12-DOF’s synchronized with each other, Robot Stability through Gyros, Obstacle Detection for Localization and Irregular Surface gaiting patterns. Very favorable results have been obtained, as the legged structure producing joints movement as per expectations. With further improvements suggested, the output can be further polished.
Present-day hardware is often mechanically complex and costly, different robot systems are hard to compare to one another, and many systems are not commercially available. We believe that hardware, firmware, and middle-ware must become inexpensive and relatively easy to reproduce and implement.
Therefore, for a legged robot to be successful, it is necessary to minimize the number of parts requiring precision machining, thereby favoring off-the-shelf components over sophisticated custom actuation solutions.
We aim to produce a 4-legged robot which is:
- Inexpensive
- Each leg with a 3-DOF (Degree of Freedom)
- Light weight
- Easy to Implement
- Low Hardware cost
- Low Maintenance cost
The major aim of this project is to design a 4-legged companion robot specially focusing on the legs-hardware and body-design which helps the robot to stabilize both in static and dynamic situations. The stabilized structure will also provide the flexibility in rough areas. Its joints (degrees of freedom) will play important role according to the required tasks of walking and running. Most of the times, researchers focus on preparing wheeled structures but not legged-robots that can move using their own vision and provide flexibility in complex terrain and situations. But, the 4-legged robot, as proposed herein, can be used in different areas as a work force. The companion robot as evident from its name can work like a companion to a person such that in hospitals, small offices etc to help in running day to day errands easily.
Project ObjectivesA body is needed by bio-inspired artificial intelligence (AI) to efficiently and effectively operate on. The degree of freedom of independent sensing and motion capabilities as well as planning capabilities on onboard computers decide the form of body. The specific body forms the kind of AI that can be built autonomously on such a robotic platform to perform interactions in a constantly evolving environment to resolve complex tasks. It can be useful in many cases to have a humanoid or at least a legged robot. Legged locomotion is not just an important and active area of science, when studying human-robotinteraction or whenever robots are expected to work in the same atmosphere as humans, research on humanoid or other legged, animal-oid robots may also be beneficial.
Present-day hardware is often mechanically complex and costly, different robot systems are hard to compare to one another, and many systems are not commercially available. We believe that hardware, firmware, and middle-ware must become inexpensive and relatively easy to reproduce and implement.
Therefore, for a legged robot to be successful, it is necessary to minimize the number of parts requiring precision machining, thereby favoring off-the-shelf components over sophisticated custom actuation solutions.
We aim to produce a 4-legged robot which is:
- Inexpensive
- Each leg with a 3-DOF (Degree of Freedom)
- Light weight
- Easy to Implement
- Low Hardware cost
- Low Maintenance cost
To achieve this goal, we leverage recent advances in inexpensive plastic 3D printing and high-performance and high torque Servo motors which are now widely available as off-the-shelf components. Furthermore, we can take advantage of the improvements driven by the mobile-device market, including affordable miniature sensors, low power and high-performance micro-controllers, and advanced battery technologies.
It is aimed that the robot will consist of high-torque brushless DC motor with suitable low-gear-ratio transmission alongside its impedance and force control. We will install a foot contact sensor for legged locomotion with hard impacts. This companion robot with a large range of motion will be assembled from twelve identical actuators and four-foot contact sensors installed at each lower link. We will consider the body shape, inspired from that of a dog as it is loved by people as pet, in order to implement the companion attribute in our robot. As, we are focusing on this being a pet as well worker at a same time so we will also be counting the main parameters of price range and material selection that can be easily comfortable and easy to buy for people in the market.
Benefits of the ProjectLegged robots are the forms of robots that can travel forward on rough terrain and go around. The legged robots are easier to drive, more adaptable and useful than wheeled robots, and on many different terrain types can make fast locomotion. For these above stated reasons, legged robots are more common these days and for this kind of robots, researchers in the field of robotics pay attention. In this project, we studied the techniques of the four-legged robots' leg movements. These gestures intimate four legged animal movements. Moving around is more difficult to by managing four legs of a robot.
In certain situations, in areas with rough terrain conditions where wheeled vehicles cannot navigate, there is a need for mobile platforms that can easily navigate over the area. In search and rescue tasks, as well as in carrying payloads, examples of such scenarios can be seen. Walking robots are distinguished, unlike wheeled robots, by very good stability in rugged terrain. The main goal of this project is to present an innovative, light weight and an inexpensive design of a four-legged robot.
Industrial robots typically operate in a structured environment, where the location or trajectory of each object is precisely specified. Service robots have been built in combination with industrial robots, but service robots frequently operate under uncertain conditions or where conditions can be dynamically altered. The applications of legged robots are very vast i.e – mechanical industry, electrical industry, nuclear industry, health service (endoscopy, operation steps etc.), construction industry (reconstruction, demolition, manipulation tasks etc.) tactical purposes (Spy, Exploration, Navigation, Military Tasks, Mine Detection, rescue work in case of natural disasters), works in dangerous conditions (monitoring, diagnostic, cleaning, manipulation, repairing etc.)
Technical Details of Final DeliverableThe major aim of this project is to design a 4-legged companion robot specially focusing on the legs-hardware and body-design which helps the robot to stabilize both in static and dynamic situations. The stabilized structure will also provide the flexibility in rough areas. Its joints (degrees of freedom) will play important role according to the required tasks of walking and running. Most of the times, researchers focus on preparing wheeled structures but not legged-robots that can move using their own vision and provide flexibility in complex terrain and situations. But, the 4-legged robot, as proposed herein, can be used in different areas as a work force. The companion robot as evident from its name can work like a companion to a person such that in hospitals, small offices etc to help in running day to day errands easily.
The four-legged companion robot is designed to avoid obstacles/walk and climb the stairs. Sharp sensors like distance measuring sensors are using on its face side. We are not dealing with Artificial intelligence (Machine Learning). Gyro sensor (MPU sensor) is using the measure the angular velocity of legs and to keep the robot weight at center of gravity. Electric motors are used for the 3 degrees of freedom each leg supported with 3 electric motors. FSR sensors are used to test the load which check the leg contact with floor.
The project implements Robot Localization and Locomotion using Obstacle detection and different gaiting patterns to process the companion feature for indoor to outdoor movements.
The process consists of four steps:
- Joints Movement having 3-DOF’s per leg and overall, 12-DOF’s synchronized with each other,
- Robot Stability through Gyros
- Obstacle Detection for Localization and Irregular Surface gaiting patterns.
- Very favorable results have been obtained, as the legged structure producing joints movement as per expectations.
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 79930 | |||
| JX PDI-6221MG 20Kg Large Torque Digital Servo Motor | Equipment | 16 | 1950 | 31200 |
| Gyro Sensor | Equipment | 3 | 500 | 1500 |
| Servo MG995 | Equipment | 3 | 500 | 1500 |
| 16x2 LCD Display screen | Equipment | 1 | 230 | 230 |
| PCF 8584 servo driver | Equipment | 1 | 130 | 130 |
| Wires+headers | Equipment | 3 | 90 | 270 |
| HDMI Cable | Equipment | 1 | 300 | 300 |
| Raspberry Pi 3 Model B | Equipment | 2 | 6700 | 13400 |
| Power Bank for Raspberry Pi | Equipment | 1 | 3400 | 3400 |
| 3D Printing of Parts | Equipment | 1 | 18000 | 18000 |
| Stand and whole setup for Testing | Miscellaneous | 1 | 10000 | 10000 |