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DESIGN AND CONTROL OF COMPACT LEGGED-WHEELED
ROBOT “SPICAR” Project Supervisor: Dr Mohamed Kara-Mohamed. By Zeeshan Mustafa Latif Ansari (Id: s09466807), BEng (Hons) Electronic Engineering.
1) SPICAR ROBOT
What is a Spicar robot?
The Spicar is a hybrid robot with compact 6-legged
and 4-wheeled capabilities to perform walking and
rolling locomotion.
Rationale:
In last few decades robots have taken over human in
some of their activities especially where human lives
are endangered due to the amount of risks attached
to them. Because of significant personal and
industrial demand of developing highly robust and
multifunctional robots, this project was undertaken
(Jakimovski et al., 2016).
Features:
a) Legged-wheeled robot with maximum mobility
on varying ground conditions with high speed on
wheels.
b) Good negotiating capabilities of legs.
Possible areas of implementation:
Rescue Missions, Surveillance, Space Exploration
Final Year, BEng (Hons) Electronic Engineering Project 2016 - 2017
Unit (individual component) testing
and Functional testing was
conducted. The table 1, given below,
shows results of Functional testing:
The Spicar achieved its original aim. In future, this platform can be modified and programmed to
perform increasingly complex motions and functions which are given below:
a) Addition of ultrasonic sensors to make it autonomous Spicar.
b) Interfacing with Android/Apple iOS telephones by using their WI-FI or Bluetooth technologies.
c) Adding pyro-electric passive infrared sensor can make the robot a potential rescue robot.
d) Gyroscopic sensor will enable it to sense edges of a surface thus, making it more intelligent as a system.
6) CONCLUSION AND FUTURE WORK
This project primarily aims at more generalised
legged-wheeled robotic platform that can manually be
switched between legs and wheels mode.
Objectives:
1) Project Proposal.
2) Determine suitable hardware for robot structure.
3) Mechanical design of robot i.e. Legs, Wheels.
4) Electronic Circuit Design.
5) Develop Block Diagram of system hardware for
algorithms and C programmes.
6) Hardware/Software Implementation.
7) Control Strategy Implementation.
8) Testing and Results.
9) Evaluation of Final Design and Product.
10)Autonomous Control (Optional Objective).
2) AIM AND OBJECTIVES
4) TESTING & RESULTS 3) METHODOLOGY, DESIGN AND IMPLEMENTATION
Methodology:
• Research the available locomotion systems for different
robotic vehicles.
• Set the required specification.
• Mechanical, electronic and software design.
• Build the actual system.
• Test the robot.
• Evaluate design and functionality.
• Final Project Report/Poster Presentation.
Rolling Logic
7) REFERENCES [1] Jakimovski, B., Hoerenz, M.,
Kotke, M. and Maehle, E. (2016).
Design of a hybrid wheeled-legged
robot - WheeHy - IEEE Xplore
Document. [online]
Ieeexplore.ieee.org. Available at:
http://ieeexplore.ieee.org/stamp/sta
mp.jsp?tp=&arnumber=5756943
[Accessed 4 Nov. 2016].
[2] Bonanza, R. (2017). Build a 12-
Servo Hexapod. [online]
Robotoid.com. Available at:
http://www.robotoid.com/appnotes/p
roject-build-12-servo-hexapod.html
[Accessed 24 Mar. 2017].
5) SPICAR
U
User
Robot Steering Feedback Display &
Posture Display
User Interface
Posture Calculation Task Planning
Walking Locomotion
(Gait Generation)
Rolling Locomotion
(Proportional Control)
Leg Kinematics Calculation
Wheeled Kinematics Calculation
Actuators Control On Board
Controller
Ho
st
Co
mp
ute
r
Actuators
Sensor Acquisition
Sensor Acquisition
Figure 3 Hierarchal Control Architecture
Hardware Design and Implementation:
• This involved Design and Build of Legs, Wheels, Sensors
etc. and Overall Assembly for Hardware Block Diagram.
Spicar successfully demonstrates
forward, backward and rotational
movements on both locomotion.
Hardware Block Diagram Design, Build & Assembly
Software Design and
Implementation:
• This involved Developing
Logics for Walking and
Rolling Locomotion as
follows:
Walking Logic
COMPONENTS
CYCLE 1
CYCLE 2
FINAL
STATUS
Test for Atmega2560
Microcontroller ports
OK
OK
OK
Test for Hardware
Connections
Failed OK OK
Test for Servo motors Failed OK OK
Test for DC motors Failed OK OK
The flow chart, given below, was
designed to demonstrate Walking
and Rolling Locomotion on Spicar.
Figure 6 Program Flow chart
Table 1 Functional Testing
Figure 2 Hardware Block Diagram Figure 1 Design, Build and Assembly
Figure 4 Tripod Gate and Stepping Sequence (Bonanza, 2017) Figure 5 Forward, Backward and Rotational Logic
Control
Architecture: