Great robots deserve a great remote controller. A proper, well designed controller can speed up project development and in some cases can even improve robot performance. In this post I will describe how I design, make, test and improve a customized RC remote controller.
Robot Gait Intro
There are two main quadruped robot gaits: Creep Gait and Trot Gait. In this article, I will talk about
- what they are
- how they look like
- how they work
- and how to implement
I am going to build an Arduino Quadruped Robot. As usual, I will share my source code and show as many pictures as possible, to help those of you who are also building Quadruped robots. The way I do things might not be the best ways, and I am sure you can come up with better solutions, please let me know if you do! :-)
This robot is actually the first robot I wanted to build, but I failed miserably. you can check this out and this. After building a working Arduino Hexapod robot, I feel confident that I can pull it off this time! I recycled the parts from the arduino hexapod robot, and build a body with styrene sheets, so there is no new parts. Read More
In this article I will show you what is LED, how to use LED in Robot projects without breaking them, especially when using multiple of them connected in series or parallel.
Wall E Robot
This project is aimed to bring the Wall E robot from the movie into life! it will have a camera in one of his eyes, the information will be passed and processed in the computer, and commands are then sent via bluetooth back the Wall E robot. It can also recognised sounds, and can be controlled manually as a spy robot.
The source code you see in this project are written in C++ and with Qt Framework and OpenCV library.
PC ——–>——–>——–> Robot (Arduino)
PC < ——<——– Bluetooth ——> Air —–> Bluetooth —–> Arduino
此文章是对 Arduino Hexapod Robot 的总结及中文翻译。针对于六足机器人的算法，可以先看看：https://oscarliang.com/inverse-kinematics-implementation-for-hexapod-robot/ 如果你还不知道什么是 IK，可以先看看 IK 基础：https://oscarliang.com/inverse-kinematics-and-trigonometry-basics/
I will show you how to build an arduino hexapod robot, from building the body, to how to implement the algorithm. To learn about the implementation of the algorithm, read this first, if you are not sure what is IK, read this.
Inverse Kinematics Implementation for Hexapod Robots and Quadruped Robots Introduction
In my hexapod robot, I don’t normally control the leg directly, I only control the position of the body. Changes to the position of the body should be translated into changes to leg position. By using Inverse Kinematics, we can work out the angles of each servos, and the robot moves the way we wish.
Inverse Kinematics Tutorial Introduction
What is Inverse kinematics in robotics? With your robot having legs the position of those legs dictates where its feet are. Where its feet are dictate its point of balance.
As you might know “balance” can be defined as the robot’s centre of mass (affectionately referred to as its centre of gravity) being between its centre of pivots (i.e. the edges of where its feet contact the ground). If the centre of mass is above the centre of pivots and between them the robot will balance (almost an unstable equilibrium, if you’re an applied mathematician. If the centre of mass is above but outside the centre of pivots (i.e. beyond the edges of his feet) the robot will overbalance and fall.
If you feel confident about the Inverse Kinematics basics, you can jump to
Implementation of IK on Hexapod robot:
This Simple Hexapod Robot is more like a downgrade from my last robot. The quadruped robot I was trying to build didn’t actually quite work though I spent quite a lot of time, but I have unfortunately underestimated the difficulty. So I am stepping back, and start from something easier, a Simple Hexapod Robot that uses Arduino.
I originally thought Hexapod Robot are not easier, as they have 6 legs and therefore more complicated in the programming. It turned out to be wrong because it’s much easier to balance as there are 6 legs. When it’s walking, we don’t need to worry about the center of mass and so on in order to balance, we just need to think about where to place the next leg in order to move.
My First ever Robot. It tracks objects using Infra-red sensors, and has basic AI that follows and avoid objects.
I will describe the how I made this robot, and upload some videos.
Let’s have a look at the result!
Check our my last tutorial to see how it works (theory and example).