Four Legged Robot

Project Title

Four Legged Robot

Project Area of Specialization Electrical/Electronic EngineeringProject Summary

In this project,we are designing a four legged robot that can take commands remotely and can perform autonomous operations with remote supervision. The robot’s mathematical treatment will be simulated and analyzed. This robot is more versatile as compared to wheeled bots and can move through uneven and difficult terrains.. Due to modular nature, it can be re-programmed and re-equipped with task specific operations.

Overall,we will be working on following milestones in this project:

? Design and Development of Robot

?Movement/Gaits

?Performing Operations

Project Objectives

1.Designing and analysis of multiple gaits with the scheme of its locomotion.

2.Calculations of the four legged robot to determine the required forces/torque at the joints such that a stable walk is possible from one point to the other point.

3.Capable of walking through uneven terrains.

4.Autonomously or manually controllable.

Project Implementation Method

1. Mathematical Model will be developed for the design of 4-legged Robot
2. CAD files will be designed for 3D printing
3. Robot parts will be printed using a 3D printer
4. Electronic Design will be simulated/calculated (Coding/Raspberry Pi/Amplifiers etc)
5. Wiring Diagram will be developed
6. Integration of the 3D components and electronic components to realize the robot.
7. Programming the Robot.
8. Testing phase (few operation tasks)
9. Demonstration

Benefits of the Project

Four legged robots are developed to move through difficult terrain, They can exhibit quadrupedal motion, They can benefit from increased stability over two-legged robots ,especially during movement, They can benefit from a lower center of gravity than two-legged systems, In contrast to tripedal robots, four-legged robots are more popular, They use the alternating technique (in pairs) to walk.

Capable of going through places where humans are at risk.(e.g., extreme temperature zones and radioactive effected regions).

This robot can also work as an information scout to help in search missions.

Technical Details of Final Deliverable

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1. Software:
   1. Command User Interface on PC  and Mobile Application
   2. Monitoring GUI on PC with Remote Video from Robot
   3. Control Software
2. Hardware Specifications of Robot
   1. Batteries: Specific Model with its Capacity
   2. Controllers: Single Board Controllers (Arduino,Raspberry Pi etc)
   3. Communication: Wireless Module (Protocol e.g., ZigBee, Wireless)

Final Deliverable of the Project HW/SW integrated systemCore Industry EducationOther IndustriesCore Technology RoboticsOther Technologies Artificial Intelligence(AI), Internet of Things (IoT), 3D/4D PrintingSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	69760
Servo motor DS3218	Equipment	12	3000	36000
Metal horns for the servos	Equipment	12	500	6000
8x3x4mm bearings	Equipment	20	200	4000
MPU6050 IMU	Equipment	1	300	300
Arduino Mega	Equipment	1	1200	1200
Raspberry Pi 4	Equipment	1	8000	8000
Remote Controller	Equipment	1	3000	3000
Buck converter	Equipment	1	200	200
Henge Ubec 8A/12A	Equipment	4	500	2000
18650 Lithium Ion cell	Equipment	6	200	1200
2x18650 Battery holders	Equipment	3	100	300
3D printing	Miscellaneous	28	270	7560