dangkhoadl / Robotics-4-Legged-Robot

A walking Robot

Four legged walking Robot

My project to complete the Bachelor of Engineering degree

Hardwares Resources

• 1 STM32F4 Microcontroller development board (ARM Cortex M4)
  • 12 PWM channels
  • 4 timer interrupts
  • 2 external event interrupts
  • 1 SPI channel
  • 1 UART channel
• 12 step motors with PWM control
  • 3 motor for 1 leg
• 1 MPU-6050 Gyroscope
  • 10-axis gyroscope
  • Interface with the microcontroller through SPI
• 1 Xbox360 Controller
  • Interface with Microcontroller through a wireless module

Features

• Path planning and motion planning
  • 3 seleted gaits for traversing through different terrains
  • Creeping, Walking, Trotting
  • Direction of movements controlled by the Xbox 360 Controller
• Fuzzy Logic Controller
  • Implemented in the ARM CPU
  • Realtime response to terrain conditions
  • Input data: From 10 different gyroscope channels
  • Output: Signals to configre the gait parameter vector to adapt to the new environment
• Kalman filter
  • To eliminate Input noises from input data

Demo

• Creeping Gait
• Walking Gait
• Walking and Trotting Gaits
• Traversing through different terrains

How to run

• Use ARM Keil IDE to build and compile project files into .bin object
• Use the built-in debugger to load the object file into the chip ROM