Optimal motion

Project Title

Optimal motion

Project Area of Specialization RoboticsProject Summary

This Project is to design a snake-like robot that can provide the locomotion as a real biological snake. It is also capable of crossing over the obstacles within a certain height limit or finding alternative ways instead of climbing over them if the height of the obstacles is over the limit. The snake-like robot is a biomorphic hyper redundant robot that resembles a snake. The shape and sizes of the snake-like robot are dependent on the application, different applications may require different sizes and shapes, since this project’s main target is to design a snake-like robot that can avoid the obstacles, the snake-like robot is designed to moderate size with 4-5 segments so that the snake-like robot can move flexible in the terrain that has a lot of obstacles. To make the snake-like robot function and move like a real biological snake, the snake-like robot may construct multiple joints which enable the snake-like robot to have multiple degrees of freedom, which give it the ability to flex, reach and approach a huge volume in its workspace with an infinite number of configurations. This mobility can enable the robot to move around in more complex environments.

So, the application for this snake-like robot could be very useful in hard-to-reach places or hazardous environments. The locomotion of this snake-like robot moves in a specific gait, which is periodic of sine wave motion, just like a lateral undulation motion. Lastly, special features such as snake-like locomotion, the ability to climb over obstacles or stairs, estimate the height, make decisions, and remotely control are applied to the design.

A vision sensor (Kinect Vision Sensor) will be used to integrate intelligence and make it perform actions autonomously. With the help of a vision sensor, the robot will sense and perceive the outside environment and take decisions accordingly. If an obstacle happens in its way, it will change its course or if the robot observes a stair, it will change its gait accordingly to climb it. Furthermore, if it observes a gap, the robot will try to move over it. The vision algorithms help the robot decide which predefined gait it should select for a particular scenario.

Project Objectives

This project focuses on the hardware and software implementation of the Snake robot, leading from CAD modeling to the final Hardware product. The main objectives of this project are detailed as follows

1. 3D modeling and simulation of the robot in CoppeliaSim (a physics engine for robotics simulations).

2. Bridging the CoppeliaSim framework to the remote APIs for the control of the robot.

3. Implementation of Tripod and Stair-Climb locomotive gaits and testing in CoppeliaSim.

4. Integration of Vision and other sensors with the robot in the simulation framework.

5. Implementation of Vision-based smart decisions such as stair climbing, gap overcome, and obstacle avoidance using computer-vision methods in the simulation framework.

6. Development of a test-bed to test the robot performance in various environmental conditions in the simulation framework.

7. Implementation and testing of all the above-mentioned objectives on actual hardware.

Project Implementation Method

3D CAD Modeling:

For CAD Modeling of our robot, we will be using SolidWorks. The purpose of using it is because, it is very flexible, handy software and provides a variety of tools to test the mechanical design of the robot. Furthermore, we can easily import ‘.stl’ files in much robotic software. segments design, its dimensions will be set in here and then will import into this file to the robotic simulator.

Robotics Simulator:

CoppeliaSim is a physics engine for robotics simulations. It has a free educational version, providing almost all the tools that are required for real-time simulation. We can make pure and non-pure objects using infinite triangles and set parameters like mass, and the density of the robot to closely match the real-world robot. We will import the CAD design of our robot into it and then make its pure, non-pure objects and joints. Generation of gaits, making mock environment, and controlling of vision sensor will be done in CoppeliaSim with the help of coding. For coding, Python language will be used to make logic (detect an obstacle, its height, distance) using external APIs that CoppeliaSim provides. OpenCV library will be used for vision algorithms.

Hardware Requirements:

Lastly, we will switch from simulation to real-world implementation and in the hard form, we will repeat the same above steps. We will 3D print the SolidWorks CAD model using a 3D printer. For controlling and processing, we will be using Jetson Nano, DC Motors, and Kinect Vision Sensor. Programming will be done using Python3.

Benefits of the Project

This project focuses on an autonomous robot capable of making smart decisions and giving an internal view to the rescue team so that they can go safely and perform their respective tasks. The design of the robot enables it to overcome different obstacles and move stably on rough terrains. It can be used for crops field, Search and Rescue(SAR) tasks and mining areas, security, camouflaging its identity with real animals so that it may help in studying animal behavior better, Underwater applications, and performing perilous tasks. For military, space companies, and search and rescue teams, it would be of great interest.

Technical Details of Final Deliverable

The Snake Robot comprising all of its segments and vision integration will be able to take self-decisions and reduce human interaction and effort. With the help of the Kinect sensor, the robot will take the depth images and by applying color coding, masks, and image segmentation technique, the robot will estimate the distance of the obstacle and change its path. Similarly, for the gap, it will observe whether the gap distance is within its range or not and if so, it will select the predefined gait to overcome it. For stairs, the robot will then again choose the stair-climbing gait and will climb it with ease and stability. The depth images from the Kinect sensor will be received by Jetson Nano and with the help of the OpenCV library, the controller will process the images and the result will be sent to the robot joints and segments and it will then act accordingly. All this process will be in real-time. The robot will be simulated first in CoppeliaSim and then It will interface with the hardware with the help of ROS (Robot Operating System). The CAD model will be designed in SolidWorks cause of its great compatibility and ease of use. In Hardware, All the segments, designed in SolidWorks, will be printed using the 3D printer. Then the motors, Kinect sensor, and Jetson Nano will be attached. Then there comes the coding, controlling, and interfacing of the robot with the simulator. The end product when presented will be intelligent enough to take self-decisions and perform its respective tasks and have plenty of future work also like with the help of Reinforcement Learning(RL) the robot will learn path planning and reach its goal.

Final Deliverable of the Project HW/SW integrated systemCore Industry OthersOther Industries Agriculture , Security Core Technology OthersOther Technologies 3D/4D Printing, RoboticsSustainable Development Goals Decent Work and Economic GrowthRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	75800
DC Motors	Equipment	10	300	3000
12V chargeable battery	Equipment	2	1400	2800
Nvidia Jetson Nano	Equipment	1	16900	16900
PLA 3D Printing filament	Equipment	2	8000	16000
Motor Drivers	Equipment	6	300	1800
Transceiver	Equipment	1	5400	5400
Drilling machine	Equipment	1	2400	2400
nuts and bolts	Equipment	60	50	3000
Power cable	Miscellaneous	2	1200	2400
Jumpers	Miscellaneous	50	10	500
Binding of thesis	Miscellaneous	1	500	500
Printing	Miscellaneous	1	400	400
3D printing	Miscellaneous	8	625	5000
Extra Motors	Miscellaneous	4	300	1200
Kinect Vision Sensor	Equipment	1	14500	14500