Quadruped robot

FreeCAD parts of quadruped robot

Robotic Parts/Quadruped robot/03 Board/Gerber_BoardOutline.GKO

@@ -0,0 +1,74 @@
+G04 ---------------------------- Layer name :KeepOutLayer*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
+G71D02*
+
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+
+%LPD*%
+M00*
+M02*

Robotic Parts/Quadruped robot/03 Board/Gerber_BottomSolderMaskLayer.GBS

@@ -0,0 +1,141 @@
+G04 ---------------------------- Layer name :BOTTOM SOLDER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
+G71D02*
+
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Robotic Parts/Quadruped robot/03 Board/Gerber_TopPasteMaskLayer.GTP

@@ -0,0 +1,24 @@
+G04 ---------------------------- Layer name :TOP PASTER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
+G71D02*
+
+%ADD13R,1.160018X1.469898*%
+
+%LPD*%
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+M00*
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Robotic Parts/Quadruped robot/03 Board/Gerber_TopSolderMaskLayer.GTS

@@ -0,0 +1,149 @@
+G04 ---------------------------- Layer name :TOP SOLDER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
+G71D02*
+
+%ADD13R,1.363218X1.673098*%
+%ADD14R,1.981200X1.981200*%
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+
+%LPD*%
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Robotic Parts/Quadruped robot/03 Board/Gerber_drill_NPTH.DRL

@@ -0,0 +1,14 @@
+;NPTH Drill file created by EasyEDA 
+M48
+METRIC,LZ,000.000
+;Holesize 1 = 3.000 METRIC
+T01C3.000
+%
+G05
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+T01
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+M30

Robotic Parts/Quadruped robot/03 Board/Gerber_drill_PTH.DRL

@@ -0,0 +1,119 @@
+;PTH Drill file created by EasyEDA 
+M48
+METRIC,LZ,000.000
+;Holesize 1 = 0.306 METRIC
+T01C0.306
+;Holesize 2 = 0.701 METRIC
+T02C0.701
+;Holesize 3 = 0.889 METRIC
+T03C0.889
+;Holesize 4 = 0.915 METRIC
+T04C0.915
+;Holesize 5 = 1.701 METRIC
+T05C1.701
+%
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Robotic Parts/Quadruped robot/04 Arduino/legs_init/legs_init.ino

@@ -0,0 +1,29 @@
+// Locate the initial position of legs 
+// RegisHsu 2015-09-09
+
+#include <Servo.h>   
+
+Servo servo[4][3];
+
+//define servos' ports
+const int servo_pin[4][3] = { {2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13} };
+
+void setup()
+{
+  //initialize all servos
+  for (int i = 0; i < 4; i++)
+  {
+    for (int j = 0; j < 3; j++)
+    {
+      servo[i][j].attach(servo_pin[i][j]);
+      delay(100);
+    }
+  }
+  while (1);
+}
+
+void loop(void)
+{
+  
+}
+

Robotic Parts/Quadruped robot/04 Arduino/spider_robot/Spider_SP8.ino

@@ -0,0 +1,336 @@
+
+// SP-8 quadruped robot - 27/03/2019
+// Copyleft - Roberto Hamm - roberto-hamm@sfr.fr
+// http://robotix.ah-oui.org
+
+#include <Servo.h>
+#include <IRremote.h>
+
+// codes IR remote control
+#define cod_0 0x40BF
+#define cod_1 0xC03F
+#define cod_2 0xE01F
+#define cod_3 0x807F
+#define cod_4 0xD827
+#define cod_5 0x20DF
+
+int IR_signal = A0;
+IRrecv irrecv(IR_signal);
+decode_results results;
+
+// servo codes
+Servo servo_footA;
+Servo servo_armA;
+Servo servo_footB;
+Servo servo_armB;
+Servo servo_footC;
+Servo servo_armC;
+Servo servo_footD;
+Servo servo_armD;
+
+int srv_footA = 11; // foot
+int srv_armA =  10; // arm
+int srv_footB =  9;  // foot
+int srv_armB =   8;  // arm
+int srv_footC =  7;  // foot
+int srv_armC =   6;  // arm
+int srv_footD =  5;  // foot
+int srv_armD =   4;  // arm
+int del = 1500;
+
+int Fdw=60;
+int Fup=80;
+int Abw=70;
+int Afw=110;
+int spd=5;
+
+int p13 =13;
+
+void setup() {
+    Serial.begin(9600);
+    Serial.println("Spider-S8 : version-190418 - CASE");
+// remote control
+    pinMode(IR_signal, INPUT);
+    irrecv.enableIRIn();
+// servo
+    servo_footA.attach(srv_footA);
+    servo_armA.attach(srv_armA);
+    servo_footB.attach(srv_footB);
+    servo_armB.attach(srv_armB);
+    servo_footC.attach(srv_footC);
+    servo_armC.attach(srv_armC);
+    servo_footD.attach(srv_footD);
+    servo_armD.attach(srv_armD);
+
+stall(); delay(1000);
+pinMode(p13, OUTPUT); 
+}
+
+
+void loop() {
+
+if (irrecv.decode(&results)) {
+unsigned int value = results.value;
+Serial.println(value, HEX);
+
+switch(value){
+
+
+
+case cod_1:
+digitalWrite(p13,HIGH);
+ROUND();
+digitalWrite(p13,LOW);
+break;
+
+case cod_2:
+digitalWrite(p13,HIGH);
+WALK();
+digitalWrite(p13,LOW);
+break;
+
+case cod_3:
+BLINK();
+for(int i = 0; i < 7; i++){WALK();}
+stall();
+flat_up();
+delay(1000);
+flat_dw();
+delay(1000);
+for(int i = 0; i < 7; i++){ROUND();}
+delay(500);
+stall();
+break;
+
+case cod_4:
+flat_up();
+break;
+
+case cod_5:
+flat_dw();
+flat_up();
+break;
+
+case cod_0:
+stall();
+digitalWrite(p13,LOW);
+break;
+
+} // switch
+irrecv.resume();
+}}
+
+///////// grouped movements ////////////////
+
+void WALK(){
+go_ahead();
+Afoup(); armAfw(); Afodw();
+Cfoup(); armCbw(); Cfodw();
+Bfoup(); armBbw(); Bfodw();
+Dfoup(); armDfw(); Dfodw();
+}
+
+void ROUND(){
+armAfw(); 
+armBfw(); 
+armCfw(); 
+armDfw(); 
+Afoup(); armAbw(); Afodw();
+Bfoup(); armBbw(); Bfodw();
+Cfoup(); armCbw(); Cfodw();
+Dfoup(); armDbw(); Dfodw();
+}
+
+///////// foot up-down
+
+void Afoup(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=min; i<=max; i++)  {
+    servo_footA.write(i);
+    delay(spd);}}
+
+void Bfoup(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=min; i<=max; i++)  {
+    servo_footB.write(i);
+    delay(spd);}}
+
+void Cfoup(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=min; i<=max; i++)  {
+    servo_footC.write(i);
+    delay(spd);}}
+
+void Dfoup(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=min; i<=max; i++)  {
+    servo_footD.write(i);
+    delay(spd);}}
+
+void Afodw(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=max; i>=min; i--)  {
+    servo_footA.write(i);
+    delay(spd);}}
+
+void Bfodw(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=max; i>=min; i--)  {
+    servo_footB.write(i);
+    delay(spd);}}
+
+void Cfodw(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=max; i>=min; i--)  {
+    servo_footC.write(i);
+    delay(spd);}}
+
+void Dfodw(){
+int max=Fup+5; 
+int min=Fdw+5;
+    for(int i=max; i>=min; i--)  {
+    servo_footD.write(i);
+    delay(spd);}}
+
+///////////// basic mvmnts ///////////////
+
+void go_ahead(){
+spd=5;
+    for(int i=Afw; i>=Abw; i--)  {
+    servo_armA.write(i);
+    servo_armD.write(i);
+int y = Abw+Afw-i;
+    servo_armC.write(y);
+    servo_armB.write(y);
+    delay(spd);}}
+
+void flat_up(){
+int max=Fup+5; 
+int min=Fdw+5;
+    servo_footA.write(min);
+    servo_footB.write(min);
+    servo_footC.write(min);
+    servo_footD.write(min);
+    delay(500);
+    for(int i=min; i<=max+50; i++)  {
+    servo_footA.write(i);
+    servo_footB.write(i);
+    servo_footC.write(i);
+    servo_footD.write(i);
+    delay(spd);}
+    delay(500);
+}
+
+void flat_dw(){
+int max=Fup+5; 
+int min=Fdw+5;
+    servo_footA.write(max);
+    servo_footB.write(max);
+    servo_footC.write(max);
+    servo_footD.write(max);
+    delay(500);
+    for(int i=max; i>=min; i--) {
+    servo_footA.write(i);
+    servo_footB.write(i);
+    servo_footC.write(i);
+    servo_footD.write(i);
+    delay(spd);}
+    delay(500);
+}
+
+///////////////////////////
+
+// single arm mvt A
+void armAfw(){
+int min=Abw+0; 
+int max=Afw+0;
+    for(int i=min; i<=max; i++)  {
+    servo_armA.write(i);
+    delay(spd);
+}}
+
+void armAbw(){
+int min=Abw+0;
+int max=Afw+0;
+    for(int i=max; i>=min; i--)  {
+    servo_armA.write(i);
+    delay(spd);
+}}
+
+// single arm mvt B
+void armBfw(){
+int min=Abw+0; 
+int max=Afw+0;
+    for(int i=min; i<=max; i++)  {
+    servo_armB.write(i);
+    delay(spd);
+}}
+
+void armBbw(){
+int min=Abw+0;
+int max=Afw+0;
+    for(int i=max; i>=min; i--)  {
+    servo_armB.write(i);
+    delay(spd);
+}}
+
+// single arm mvt C
+void armCfw(){
+int min=Abw+0; 
+int max=Afw+0;
+    for(int i=min; i<=max; i++)  {
+    servo_armC.write(i);
+    delay(spd);
+}}
+
+void armCbw(){
+int min=Abw+0;
+int max=Afw+0;
+    for(int i=max; i>=min; i--)  {
+    servo_armC.write(i);
+    delay(spd);
+}}
+
+// single arm mvt D
+void armDfw(){
+int min=Abw+0; 
+int max=Afw+0;
+    for(int i=min; i<=max; i++)  {
+    servo_armD.write(i);
+    delay(spd);
+}}
+
+void armDbw(){
+int min=Abw+0;
+int max=Afw+0;
+    for(int i=max; i>=min; i--)  {
+    servo_armD.write(i);
+    delay(spd);
+}}
+
+
+void stall(){
+BLINK();
+servo_armA.write(90);servo_footA.write(60);
+servo_armB.write(90);servo_footB.write(60);
+servo_armC.write(90);servo_footC.write(60);
+servo_armD.write(90);servo_footD.write(60);
+digitalWrite(p13,HIGH);
+}
+
+void BLINK(){
+for(int i=0; i<3; i++){
+digitalWrite(p13,HIGH);
+delay(100); 
+digitalWrite(p13,LOW);
+delay(100); }
+}
+
+

Robotic Parts/Quadruped robot/README.md

@@ -0,0 +1,83 @@
+#Arduino Quadruped Robot
+
+Arduino Quadruped Robot the project delivered from upstream project [RegisHsu](http://goo.gl/H1vvwW)'s spider robot. This project has been redesigned in 3d printed parts eg: didn't glue servo holder with tibia and fumer, resize body to fit [12300 LIPO battery](http://goo.gl/VmvYhv). You don't need to make a bluetooth remote control anymore but you can control robot using [Android App Bluetooth Joystick](https://github.com/anoochit/android-robot-bt-joypad) instead, [get app from Google PlayStore](https://goo.gl/MF46JS). 
+
+New command mode (see source code for detail)
+
+* Test mode - test robot movement in bluetooth command
+* Sonar mode - wave your hand in front of ultrasonic sensor to wake up robot
+* Free walk mode - walk and avoid obstacle in 20cm like robot vacuum
+
+##Bill of Materials
+
+###3D printed parts
+
+ * Top Body x 1
+ * Bottom Body x 2
+ * Femur x 4
+ * Coxa Left x 2
+ * Coxa Right x 2
+ * Left Tibia x 2
+ * Right Tibia x 2
+ * Electronic plate x 1
+ 
+###Electronic parts
+
+ * Arduino Nano x 1
+ * Arduino Nano expansion board x 1 (optional)
+ * Tower Micro Servo 9G x 12
+ * Switch x 1
+ * UBEC 5V 3A or Reguletor 5V 3A
+ * LIPO Battery 7V/12V 3A (3A play for 1hr)
+ * Prototype PCB Board 6x8 cm
+ * LED x 1
+ * DC Socket 2.5mm x 1
+ * Pin header
+ * Female Pin Header
+ * M3 25mm screw x 4
+ * M3 10mm screw x 4ผ
+ * M2 10mm screw x 4
+
+##Assemply 
+
+Assembly the printed parts for 4 legs with servos, don't screw servo axis at this time, then assembly legs with body.
+
+![](https://lh3.googleusercontent.com/-4tBILi1vqYU/Vgt_RQe2tgI/AAAAAAAAVaw/efOxZv4JH3M/s640-Ic42/12036446_10154144146409989_5611113044391454922_n.jpg)
+
+![](https://lh3.googleusercontent.com/-IXZaI3R5D1k/Vgt_QJF4h7I/AAAAAAAAVaw/deyxqifE9UM/s640-Ic42/11935093_10154146124574989_8970865697741230982_n.jpg)
+
+Assemply electronic parts (schematic'll add later)
+
+ * Servo pulse pin connect to Arduino Nano pin D2-D13
+ * Servo VCC and GND connect to regulator output
+ * Bluetooth HC-05 Vcc to to Arduino Nano 5V pin, GND, RX-TX and TX-RX
+ * Arduino Nano, Vin and GND connect to regulator output 5v
+ * Use dc jack connect with LIPO battery
+ * Connect battery to input of regulator for stepdown output to 5v
+
+Group servo wire use order Fumer, Tibia, Coxa, connect servos to arduino pin for each leg
+
+ * Lelf Front connect to pin D2-D4
+ * Lelf Back connect to pin D5-D7
+ * Right Front connect to pin D8-D10
+ * Right Back connect to pin D11-D13
+
+Flash leg_init.ino script to initial servo angle then screw tight all servo axis, leg position like picture.
+
+![](https://lh3.googleusercontent.com/-HG1EKSQT2PU/VnBCA2T4ROI/AAAAAAAAWKY/pNngD10mjrk/s640-Ic42/20151215_224251.jpg)
+
+Flash spider_robot.ino to Arduino, Finish.
+
+##How to play
+
+Clone joystick app build and install or [get app from Google PlayStore](https://goo.gl/MF46JS) to your mobile phone, open app, swipe and choose connect menu, choose robot bluetooth to connect.
+
+![](https://lh3.googleusercontent.com/-a1jGQdI0nWk/VlglODy-uKI/AAAAAAAAV_8/Ckz4pwvxymg/s640-Ic42/DFG_2015-11-27-16-37-40.png)
+
+Use setting menu to config button or choose QRCode Scanner to scan QRCode below for automatic config.
+
+![](https://lh3.googleusercontent.com/-e-Jw3qc6Nnc/Vl2kEDDOFII/AAAAAAAAWB8/uS01f0dblVQ/s800-Ic42/spider_qr_code_without_logo.png)
+
+Now you can play your robot. see robot in action at [https://www.youtube.com/watch?v=OoDke587s8s](https://www.youtube.com/watch?v=OoDke587s8s)
+
+