Enhancement of a segmented hexapod robot
Tutor / director / evaluatorCosp Vilella, Jordi
CovenanteeAmrita Vishwa Vidyapeetham
Document typeBachelor thesis
Rights accessOpen Access
The main objective of this project to improve gait and movement of the Hexapod robot,also to provide the required amount of power to the robot to function efficiently. Furthermore, improvements are executed through the Ultrasonic sensor to manage its movement in order to tackle any situations with obstacles in its path. Updation of the electronics to the newer versions for an open scope to develop the project in the future is also a vital goal. Improvisation of the gait and movement of the robot is achieved by altering the programming codes proposed by the previous set of students. Offsets for each leg segment have been calibrated to control the movement of the robot. Values have been updated according to the algorithm. The right amount of power has to be supplied for enhancing the robot to have an efficient life in order to not damage the other platforms which act as the nervous system of the Hexapod robot.The nervous system as mentioned are denoted as the Raspberry Pi, Arduino mini, Servo motors and Power regulators. This system is to be circulated with proper current flow which is found to be a major flaw. The previously used electronic circuit does not withstand the current efficiently so a new circuit is developed to make this work properly without damaging any components of the robot. Ultrasonic sensors are attached to the head of the robot in order to detect any obstacles in its way so that the algorithm defined program is initiated to do its work by making the robot take a turn either in right, left or backward direction.When an object is detected within the specified range, a signal is sent from the Raspberry Pi to the Arduino intimating it about the presence of an obstacle.This signal aids the Arduino in deciding the succeeding action of the robot. Previously used platforms are found to be outdated which are to be replaced to make sure a scope for future updation. Raspberry Pi A+ V1.1, an old model of this platform has got its successor- Raspberry Pi 3 B+ replacing it. Due to the presence of inbuilt WiFi module and camera module, the Pi 3 B+ is a better solution for increasing the scope of the bot.The ultrasonic sensor can be replaced by a camera module for advanced applications.