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LOTP Robot Dog V2

Modular Autonomous Quadruped Robot Project
(Open Source)

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- Designed with Fusion 360®
- Coded in Arduino language on Teensy 3.5 & Arduino
- Modular structure (Lidar, Drone, Gas detection)
- Autonomous features
(Avoiding obstacle, maintain balance, pressure control)
- PI (Proportion - Integral) control
- Inverse Kinematics & Kinematics formulas applied
- Sense Capacity: Lidar, Gas detection, Pressure sensors
Gyroscope, GPS, Wi-Fi connection, Camera

Animal-inspired drones and robots have now been observed accomplishing a wide variety of tasks, including surveillance, predictive maintenance in industrial settings, and as mobile payload transportation system for when a situation becomes too dangerous for a human.


But unlike the current robots, I wanted to make a quadruped robot dog that was comprised entirely of replaceable modules rather than a monolithic system. This modular approach allows for the robot to be adapted in many more ways than a traditional one, and as new modules are introduced, the platform's capabilities can be greatly enhanced.


This Project which is called “LOTP” (stands for “Line On The Paper”) and it has been awarded the 1st Prize of TUBITAK Regional Science and Technology Competition, awarded the 3rd Prize of TUBITAK National Science and Technology Competition in Robotics & Coding branch and awarded the 1st Prize INSPO 2021 International Science Projects Olympiad in Engineering.


In the robot's current form, the platform is made up of six distinct units in a default configuration. At the core there is a computer unit which is responsible for gathering inputs, performing calculations, and outputting motions. A Teensy 3.5 was selected due to its fast speed and large amounts of RAM/flash storage. Additionally, the unit contains a Wi-Fi module, a GPS module, and a gyroscope for orientation data. Main battery unit and backup battery unit provide power to the robot with their pair of LiPo battery packs, and a regulator unit reduces the voltage to 6V for the servos and 3.3v/5v for the electronics. Finally, pressure sensors positioned at the legs to adjust body under pressure.

There’s also a provision for a camera which sends live video to the remote controller. That implemented FPV camera allows us to look through the eye of Robot Dog by monitoring with the FPV screen fixed on the remote controller. 



To get the robot moving, I developed a DIY remote controller that features a pair of joysticks for producing basic movements. A large character LCD shows current telemetry and data sent by sensors (such as GPS coordinates and dangerous gas ratio values). A series of buttons can be used to navigate the menu and perform various actions. An Arduino Micro drives everything and communicates with the robot over Wi-Fi by sending serial data.


It has 3 autonomous movements capacity. These are keeping balance on curved surface, body height adjustment under pressure effect and avoiding obstacles

Keeping balance on curved surface is the autonomous movement which adjusts the body, makes it parallel to the ground and keeps the balance of Robot Dog.


Body balance is kept by using gyroscope values and controlling with PI (Proportion Integral)

Body height adjustment under pressure effect is an autonomous movement for protecting body against harmful forces such as push, pressure or hit. If pressure values which were measured by Pressure Sensors are higher than critical threshold value, then servo motors will be rotated to lower the body till pressure is decreased.


Avoiding obstacles behavior is moving away from approaching obstacles. Lidar sensor collects data by rotating 360 degrees. After this data is processed if any obstacle is found, Robot dog will be moved to opposite direction. Lidar sensors are located on Lidar Module and this module enables Robot Dog to sense oncoming obstacles. It measures the distance of obstacles so that makes possible Robot to avoid them. Lidar sensor rotates 360 degrees and measures distance of objects around up to 2 meters by sending infrared signal pulses.


LOTP the robot dog has 2 movement style, walking and Standing Position Movements. Walking style of Robot can be described as «Trot». Trot style walking means while two feet are down on the ground other two feet are up and leave the ground.


Complete movement happens...

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  • 2 × Buzzer 12mm - 3V 30mA - 85dB
  • 50 × 5mm Led Yellow - 400-500 mcd
  • 50 × 5mm Led Green - 400-500 mcd
  • 50 × 5mm Led Blue - 400-500 mcd
  • 50 × 5mm Led Red - 400-500 mcd

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peter wiessenthaner wrote 5 days ago point

Congratulations for this very good project.

Peter

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Limenitis Reducta wrote 5 days ago point

Thank you very much Peter :)

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Tobias Enriquez wrote 02/01/2023 at 02:24 point

Impressive! Although the design could be improved on with embedded SoCs such as the V3s. Could be used for the number of peripherals you're using, plus faster than both uCs combined.

(Lichee Pi would be great for that, uses the V3s but in a more friendly manner, then the camera could be implemented directly using MIPI CSI)

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Limenitis Reducta wrote 5 days ago point

Hello Tobias, Thanks too much for useful tips. I developed this project for high school science competition, since then I didn't work on that for version 3. But definitely if I work on it again, I will consider your suggestions. Thanks :)

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Atin M wrote 01/06/2023 at 12:52 point

Hi there, very impressive project! What volume 3D printer is needed to print all the printed parts? Thanks!

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Limenitis Reducta wrote 01/13/2023 at 01:11 point

Hi, home type regular 3D printer will be enough to print all parts. I used "Anet A8".  

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Rochesimpson wrote 01/06/2023 at 03:26 point

This is an incredible achievement.  You are obviously very talented to have done all these tasks, and I'm sure you will have many opportunities to explore your abilities in the future.  Robotic quadrupeds are only one small area of robotics, but that area alone has vast opportunities.  Excellent work on the project and its documentation!!

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Limenitis Reducta wrote 01/06/2023 at 09:05 point

Thank you very much :)

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cesare wrote 12/23/2022 at 00:28 point

Truly amazing! Excellent work, makes me want to try to build one. Congratulations, well done!

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Limenitis Reducta wrote 12/23/2022 at 00:47 point

Thank you very much, please let me know if you need any support :)

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christian wrote 12/22/2022 at 18:17 point

nice and impressive work. don't let anyone stop you.

Great job!!

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Limenitis Reducta wrote 12/22/2022 at 22:43 point

Thank you very much :)

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