Arduino Technologies

Biped Robot

Biped

There are many ways to create a biped robot, and each way has many challenges. Thinking about the design, just how many joints do we need (hip, thigh, knee, foot)? Indeed what is the smallest number of joints we need to create a walking biped? These questions will be explored in your literature review. Also you must consider the required robot behaviour; is walking along a straight line sufficient, what about going around curves? And is the behaviour restricted to walking? What about hopping or skipping or running? Indeed what are the biped gaits observed in the natural world and which of these can be transferred to a robot? Any which of these are useful for a robot. Walking up and down stairs, walking over an uneven surface? Again, all stuff for your literature review.

This project will use an Arduino (or other) microcontroller, and you will need to fabricate the robot components which will need 3D printing (available). The controller code could be straightforward procedural (where you will instruct each joint to move) or using Central Patter Generations, small neural networks inspired by living bipeds.

Primary research will involve collecting data from the robot and analyzing this according to a planned investigation, e.g., how do various parameters affect the speed of movement, which parameters can generate walking, running and other gaits.

Supervisor

Educational Robot

Boebot

Here you will design, build and test a two-wheeled educational robot from raw components, to produce a cheap but sophisticated robot to solve problems such as maze following. You will select an appropriate micro-controller (e.g., an Arduino flavour), the drive system (stepper, servo or dc-motors with encoders) and a range of sensors. You will design the chassis and other mechanical components in CAD which will be laser-cut or 3D-printed for you. Then you will code a solution using a suitable IDE (matched to your microcontroller choice).

Primary data will be collected from the robot. Here you will compare its actual performance with the desired performance. A number of tests could be made; accuracy of moving on an arc of set radius, accuracy of navigation between obstacles.

Supervisor

Snake-bot

Snake_Bot

Take a load of servo-motors and 3D-print some enclosing brackets, connect it all up and you have a snake robot. Of course you'll need to add an Arduino and write some code. This is where things get interesting; you can write a procedural controller where you tell each segment how to move, or you could code a Central Pattern Generator where the segments self-organize their movement.

This is a hot topic in robot research. People are looking at different modes of locomotion (slithering, side-winding etc.), other folk are looking at applications such as inspecting pipes. So there's tons of literature for you.

Primary data would be collected from the snake-bot, e.g., what parameters influence its speed, mode of locomotion and other things you will imagine. Check out Will Donaldson's work https://www.instructables.com/Bioinspired-Robotic-Snake/

 

Supervisor