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Case Study: The Octapod Robotic System

1653 Words7 Pages

Many intelligent monitoring systems are developed for the detection purposes in various environment. The environment conditions are critical in most cases, so it is unsecure for the human to go through the places. In that case, the walking robots are sent for monitoring puspose. Among those intelligent monitoring, Octopod is designed because of its compact size and flexiblity. This paper focuses on the design and hardware implementation of Octapod robotic system which uses limited power. The Octapod has eight legs along with the sensors attached to it. The robotic system is designed using single chip microcontroller ATMEGA 328.6. The channel generates the PWM automatically when it is sensed, the controls the steering gears takesplace, so that it can make the Octapod robot walk. The Arduino platform is used for the operation of robot. The movement operation is implemented with DC micro servo closed loop control with angular position and angular velocity feedback. The wireless module is used for communication purpose. The location of the Octapod is identified using the Matlab tool. The locomotion is implemented experimentally by …show more content…

The robot mechanical structure is composed of trunk and six legs. Each leg has three joints which are respectively droved by one steering gear of MG945. There are a total of eighteen Degrees of Freedom (DOF), correspondingly to eighteen servo actuators. The range of controllable corner of every gear is from -90°to 90°. The extension of control pulse width is from 0.5 ms to 2.5 ms. The stall torque is 12.0 kg/cm. The velocity is 0.24 sec/60degree. The steering gear is droved by pulse-width modulated (PWM) signal. That is to say if the input of 0.5~2.5 ms VOH pulse width in the 20 ms control cycle, the corresponding angle is -90°~ 90°. Namely pulse width and the corner is a linear

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