Lotp Robot Dog V2

About the project

- Designed with Fusion 360® - Teensy3.5 & Arduino - Modular structure (Lidar, Drone, Gas detection) - Autonomous (avoiding obstacle, maintain balance, pressure control) - PI control - Kinematics & Inverse Kinematics applied - Sensors: Lidar, Gas detection, Pressure sensors Gyroscope, GPS, Wi-Fi connection, Camera

Project info

Difficulty: Expert

Platforms: ArduinoTeensyPython

Estimated time: 7 months

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

Mpu-9250 9-Axis Gyro Magnetometer Mpu-9250 9-Axis Gyro Magnetometer x 1
Rp-l-170 Thin Film Pressure Sensor Rp-l-170 Thin Film Pressure Sensor x 2
Teensy 3.5 Teensy 3.5 x 1
Single Side Copper Prototype Hole PCB Single Side Copper Prototype Hole PCB x 3
25T Servo Motor Arm (Black) 25T Servo Motor Arm (Black) x 6
Grove - Time Of Flight Distance Sensor(vl53l0x) Grove - Time Of Flight Distance Sensor(vl53l0x) x 1
Pro 3 Axis Joystick Pro 3 Axis Joystick x 2
25T Servo Motor Metal Header 14 mm Aluminum 25T Servo Motor Metal Header 14 mm Aluminum x 8
MG958 X-Large Digital Servo Motor MG958 X-Large Digital Servo Motor x 13
Carbon Monoxide Sensor (mq7) Carbon Monoxide Sensor (mq7) x 1
Methane Cng Gas Sensor - Mq-4 Methane Cng Gas Sensor - Mq-4 x 1
MQ Series Gas Sensor Card PL-1479 MQ Series Gas Sensor Card PL-1479 x 1
Filament 1.75 mm Black PLA - ABG Filament 1.75 mm Black PLA - ABG x 2
Rp-l-400 Thin Film Pressure Sensor Rp-l-400 Thin Film Pressure Sensor x 2
6V 30Rpm 15mm Reductor Dc Motor 6V 30Rpm 15mm Reductor Dc Motor x 1
2.54mm 0.1" 15-pin Female Header 2.54mm 0.1" 15-pin Female Header x 8
1x40 12mm male Header 1x40 12mm male Header x 3
820 Coreless DC Motor (Mini Drone Motor) X 2 820 Coreless DC Motor (Mini Drone Motor) X 2 x 3
TP4056 3.7 V 1S Lipo Charger
5 V 1 A Lithium Battery Charger TP4056 3.7 V 1S Lipo Charger 5 V 1 A Lithium Battery Charger x 1
Eachine TX01 NTSC Super Mini AIO 5.8G 40CH 25MW VTX 600TVL 1/4 Cmos FPV Camera Eachine TX01 NTSC Super Mini AIO 5.8G 40CH 25MW VTX 600TVL 1/4 Cmos FPV Camera x 2
Filament 1.75 mm Torques PLA - ABG Filament 1.75 mm Torques PLA - ABG x 3
3D Printer Nozzle 0.3 mm 1.75mm 3D Printer Nozzle 0.3 mm 1.75mm x 3
Aluminum Heater Block- MK7 MK8 Aluminum Heater Block- MK7 MK8 x 9
M6 X 26mm Steel Barrel - Teflon Pipe M6 X 26mm Steel Barrel - Teflon Pipe x 9
KTS102 On / Off 3 Legs Toggle Key KTS102 On / Off 3 Legs Toggle Key x 1
6x6 12mm Tach Buton (4 legs) 6x6 12mm Tach Buton (4 legs) x 10
Neo-7m Arduino Shield Mini Gps Module Neo-7m Arduino Shield Mini Gps Module x 2
NRF24L01+PA+LNA SMA 2.4G Wireless Wi-Fi Module - 1 km NRF24L01+PA+LNA SMA 2.4G Wireless Wi-Fi Module - 1 km x 2
800~2200MHz GSM Antenna 2.15-3dBi 48mm Sma Male 800~2200MHz GSM Antenna 2.15-3dBi 48mm Sma Male x 1
5.8G 48CH 4.3 Inch LCD 480x272 16:9 NTSC/PAL FPV Monitor 5.8G 48CH 4.3 Inch LCD 480x272 16:9 NTSC/PAL FPV Monitor x 1
2x16 LCD Screen Blue- Qapass 2x16 LCD Screen Blue- Qapass x 1
Pro Mini (arduino) 5v/16mhz Pro Mini (arduino) 5v/16mhz x 1
Esp8266 3dBİ Wifi Antenna Set Esp8266 3dBİ Wifi Antenna Set x 1
Passive GPS Antenna uFL 15x15mm 1dBi Passive GPS Antenna uFL 15x15mm 1dBi x 1
CP2102 Micro USB 2.0 UART TTL Serial Converter Arduino Module CP2102 Micro USB 2.0 UART TTL Serial Converter Arduino Module x 1
Radial Ball Bearing 608zz Set Of 4 Radial Ball Bearing 608zz Set Of 4 x 4
Arduino Micro Arduino Micro x 1
Arduino Pro Mini 328 - 3.3 V / 8 MHz (with Header) Arduino Pro Mini 328 - 3.3 V / 8 MHz (with Header) x 6
DC/DC - AC/DC Converter DC/DC - AC/DC Converter x 4
LM2596 adjustable Voltage dropper power module LM2596 adjustable Voltage dropper power module x 2
7.4V 2S1P 2000 mAh (30C) Li-Polymer battery 7.4V 2S1P 2000 mAh (30C) Li-Polymer battery x 2
2x40 90C Female Header 2x40 90C Female Header x 6
1x40 90C Female Header 1x40 90C Female Header x 6
1x40 32mm Male Header 1x40 32mm Male Header x 15
2.5 V -30V Mini Digital Red Voltmeter 2.5 V -30V Mini Digital Red Voltmeter x 2
TO126 Silikon Isolator TO126 Silikon Isolator x 6
XT60 Plug 60A Li-Po Connector Set XT60 Plug 60A Li-Po Connector Set x 4
3.7V 590 mAh Li-Polymer Battery 3.7V 590 mAh Li-Polymer Battery x 1
5V Voltage positive booster Regulator 5V Voltage positive booster Regulator x 1
Wireless NRF24L01 2.4 GHz Transceiver Module - 2.4 GHz Wireless NRF24L01 2.4 GHz Transceiver Module - 2.4 GHz x 1
MPU6050 6 Axis Gyro Sensor - GY-521 MPU6050 6 Axis Gyro Sensor - GY-521 x 4
3D Printer Fan 12V 40x40 mm 3D Printer Fan 12V 40x40 mm x 1
Ceramic Cabled 28dB Active GPS Antenna Ceramic Cabled 28dB Active GPS Antenna x 1
Slotted weight kit Slotted weight kit x 2
iMax B3 Compact Lipo (2-3S) Charger iMax B3 Compact Lipo (2-3S) Charger x 1
5mm Copper tape 30mt 5mm Copper tape 30mt x 1
7.4 V 2S Lipo Battery 1350 mAh 25C 7.4 V 2S Lipo Battery 1350 mAh 25C x 2
Montage tape - 22 AWG - 15 Meter Blue Montage tape - 22 AWG - 15 Meter Blue x 2
CC3D Flight Control Card CC3D Flight Control Card x 1
12V 40W 3D Printer Heater 12V 40W 3D Printer Heater x 2
M3 6 mm YSB Star Cylindrical Metric Screw - 10 Pieces M3 6 mm YSB Star Cylindrical Metric Screw - 10 Pieces x 5
M3 8 mm YSB Star Cylindrical Metric Screw - 10 Pieces M3 8 mm YSB Star Cylindrical Metric Screw - 10 Pieces x 5
M3 washer - 10 Pieces M3 washer - 10 Pieces x 5
M3 nut - 10 Pieces M3 nut - 10 Pieces x 10
3.7 V 1S Lipo Battery-Pil 450 mAh 25C - Micro Drone Battery 3.7 V 1S Lipo Battery-Pil 450 mAh 25C - Micro Drone Battery x 1
12V 12mm 60 RPM Reductor Micro DC Motor 12V 12mm 60 RPM Reductor Micro DC Motor x 1
SI2302DS, SI2302, SOT-23 Mosfet Transistor SI2302DS, SI2302, SOT-23 Mosfet Transistor x 8
3x7 Epoxy Double Sided Prototype PCB 3x7 Epoxy Double Sided Prototype PCB x 6
Arduino FT232 Module Arduino FT232 Module x 2
100uF 63v Capacitor 100uF 63v Capacitor x 20
Ams1117 3.3v Voltage Regulator Module Ams1117 3.3v Voltage Regulator Module x 3
1000uF 6.3V Capacitor 12x8mm 1000uF 6.3V Capacitor 12x8mm x 6
680uF 4V Capacitor 8.2x7.9mm 680uF 4V Capacitor 8.2x7.9mm x 6
Montage tape - 22 AWG - 15 Meter Red Montage tape - 22 AWG - 15 Meter Red x 2
Sharp GP2Y0A21YK Infrared Sensor 10-80 cm Sharp GP2Y0A21YK Infrared Sensor 10-80 cm x 1
Logic Level Converter (3.3 V-5 V) Logic Level Converter (3.3 V-5 V) x 3
3.7V 1S 460mAh 1cell Li-Polymer Battery 80C - PX460XT 3.7V 1S 460mAh 1cell Li-Polymer Battery 80C - PX460XT x 1
5mm Led Red - 400-500 mcd 5mm Led Red - 400-500 mcd x 50
5mm Led Blue - 400-500 mcd 5mm Led Blue - 400-500 mcd x 50
5mm Led Yellow - 400-500 mcd 5mm Led Yellow - 400-500 mcd x 50
5mm Led Green - 400-500 mcd 5mm Led Green - 400-500 mcd x 50
Buzzer 12mm - 3V 30mA - 85dB Buzzer 12mm - 3V 30mA - 85dB x 2

View all

Software apps and online services

Fusion 360 Fusion 360
Ultimaker Cura Ultimaker Cura
Fritzing Fritzing

Hand tools and fabrication machines

Anet A8 (3D Printer) Anet A8 (3D Printer) x 1

Story

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” and it has been awarded the 1. Prize of TUBITAK Regional Science and Technology Competition, awarded the 3. Prize of TUBITAK National Science and Technology Competition in Robotics & Coding branch and awarded the 1. 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 and while the camera module transfers live video stream to the screen on 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 in 2 stages. I have used Kinematic Model for performing walking process. Standing position movements are bending, stretching, and turning the body platform while all 4 feet are on the ground. I have used Inverse Kinematic and Kinematic Models for performing these movements.


I used my own Kinematics and Inverse Kinematics formulas to calculate leg's motor angles from X, Y and Z coordinates and to calculate leg's positions from given body angle to move body on axis.



This system is not constrained to merely walking, either, as it features several intriguing expansion modules that provide additional functionality. One of these is a dangerous gas detection unit that has an MQ-7 gas sensor and continuously monitors for the presence and level of carbon monoxide and methane.


Perhaps you will think the coolest expansion unit is the drone station module that lets the user launch a drone from a mobile platform. I wanted to design a module which carries a drone that operates in coordination with Robot Dog smoothly and simultaneously. I wanted to point out advantages of a ready-to-use unmanned aerial vehicle’s presence on an unmanned land vehicle.

When we send a command to activate, Module unfolds the drone frame and pushes it outside of its station to make it ready to fly. When we deactivate, module folds the drone and pulls it inside of its station to hide it.


To see more information about my project, you can watch its explanation video on my YouTube Channel “Limenitis Reducta”
https://www.youtube.com/c/LimenitisReducta1

or view its design files/code on GitHub “SMDHuman”

https://github.com/SMDHuman/LOTPRobotdog2

Schematics, diagrams and documents

Drone Module

Computer Unit Main Program

Gas Module

Lidar Module

Controller Flow Chart

List of Hardware Components

Project Performance Values

Attachments

Movements

Project Document

CAD, enclosures and custom parts

STP Files

Go to download

Electronics (.fzz Files)

Go to download

Features (videos)

Go to download

Project Presentation

Go to download

Code

Lidar Module

Controller

Robot Dog Computer Unit

Gas_Sensor

Drone Module

Credits

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