Project 17: Arduino 3rd Printed Biped Robot Walking & Dancing

 Project 17:  Arduino 3rd Printed Biped Robot Walking & Dancing

Main Ideas:

In this project we have used 3^rd printed parts to build bipedal walking robot is a type of humanoid robot

, Arduino Nano board was used as it need small board to put it inside the robot body, and we have used the Ultra Sonic HC-SR04 Sensor connected to the robot body to be used for object detecting, so it will check if any obstacle to avoid them. We have programed the robot to do different activities i.e. walk, move back and dancing.

Circuit / Parts

·       Ultra Sonic HC-SR04 Sensor

·       4 Servo Motors

·       Arduino Nano

·       9 Volt battery

·       3^rd printed parts refer to below link

https://www.myminifactory.com/object/3d-print-bob-the-biped-robot-2759#

/*CONNECTION DETIALS

   Servo1 -> pin 3 of arduino Nano Left Hip motor

   Servo2 -> pin 5 of arduino Nano Right Hip motor

   Servo4 -> pin 9 of arduino Nano Right Ankle Motor

   Servo5 -> pin 10 of arduino Nano Left Ankle Motor

*/

Code

#include <VarSpeedServo.h> #include <Ultrasonic.h> Ultrasonic ultrasonic(11, 12, 10000UL); // (Trig PIN,Echo PIN) Echo PIN:12 orange wire, Trig PIN=11 yellow Wire   //Left Hip motor 110 VarSpeedServo LeftHipmotor; //Right Hip motor 100 VarSpeedServo RightHipmotor; //Right Ankle Motor 90 VarSpeedServo RightAnklemotor; //Left Ankle Motor 80 VarSpeedServo LeftAnklemotor; /*CONNECTION DETIALS      Servo1 -> pin 3 of arduino Nano Left Hip motor    Servo2 -> pin 5 of arduino Nano Right Hip motor    Servo4 -> pin 9 of arduino Nano Right Ankle Motor    Servo5 -> pin 10 of arduino Nano Left Ankle Motor */ const int LeftHipmotorpin = 3;  // the digital pin used for the servo const int RightHipmotorpin = 5;  // the digital pin used for the servo const int RightAnklemotorpin = 9;  // the digital pin used for the servo const int LeftAnklemotorpin = 10;  // the digital pin used for the servo       float distanceCmFront; int ultrastoplimit = 20; // define when to stop int ultrareducespeedlimit = 40; //define when to reduce speed int currentStatus;   /*CONNECTION DETIALS      Servo1 -> pin 3 of arduino Nano Left Hip motor    Servo2 -> pin 5 of arduino Nano Right Hip motor    Servo4 -> pin 9 of arduino Nano Right Ankle Motor    Servo5 -> pin 10 of arduino Nano Left Ankle Motor */       int count = 0; // save the time that we started moveback int movetype = 0; //=0 walk =1 new move , =2 ankel, =3 ankel1 void setup() {   Serial.begin(9600);   // put your setup code here, to run once:   distanceCmFront = 0;   //**Initial position of all four servo motors**//   /*     servo1.write(110);     servo2.write(100);     servo4.write(90);     servo5.write(80);   */   //**inititialised**//   set_ini();   }   void loop() {     count = count + 1;   Serial.println (count);   if (count >= 15)   {     stopm();     delay(2000);     ScanUltrasonicFront ();     count = 0;     movetype = movetype + 1; //=0 walk =1 ankel , =2 new move , =3 ankel1     if (movetype > 3)     {       movetype = 0;     }   }   Serial.print (" current move :");   Serial.println (movetype);   if (movetype == 0)   {     walk();   }   else if (movetype == 1)   {     new_move_ankel();     new_move();   }   else if (movetype == 2)   {     new_move();   }   else if (movetype == 2)   {     new_move_ankel1();   }   }   void new_move() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     LeftHipmotor.write(145, 55, true);   RightHipmotor.write(130, 55, true);   delay(50);   LeftHipmotor.write(110, 55, true);   RightHipmotor.write(100, 55, true);     }   void new_move_ankel() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   delay(50);   RightAnklemotor.write(70, 50, true);   LeftAnklemotor.write(60, 50, true);   }     void new_move_ankel1() {     LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(90, 30, true);   LeftAnklemotor.write(80, 30, true);   delay(50);   RightAnklemotor.write(110, 30, true);   LeftAnklemotor.write(60, 30, true);   }   void walk() {   lef_up_rev();   delay(10);   right_up();   delay(10);   set_ini(); }   void set_ini() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)   LeftHipmotor.write(110, 50, true);   RightHipmotor.write(100, 50, true);   RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   }   void stopm() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)   LeftHipmotor.write(110, 50, true);   RightHipmotor.write(100, 50, true);   RightAnklemotor.write(90, 50, true);   LeftAnklemotor.write(80, 50, true);   LeftHipmotor.detach();   RightHipmotor.detach();   RightAnklemotor.detach();   LeftAnklemotor.detach();   delay (500); }     void lef_up_rev() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)       LeftAnklemotor.write(100, 55, true);   RightAnklemotor.write(100, 55, true);   delay(10);   RightHipmotor.write(130, 55, true);   delay(10);     //RightAnklemotor.write(90, 50, true); }   void lef_up() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)       LeftAnklemotor.write(60, 55, true);   RightAnklemotor.write(80, 55, true);   delay(10);   RightHipmotor.write(60, 55, true);   delay(10);     //RightAnklemotor.write(90, 50, true); }   void right_up_rev() {   //  LeftHipmotor.write(110, 50, true);   //  RightHipmotor.write(100, 50, true);   //  RightAnklemotor.write(90, 50, true);   //  LeftAnklemotor.write(80, 50, true);   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(110, 55, true);   LeftAnklemotor.write(100, 55, true);     delay(10);   LeftHipmotor.write(90, 55, true);   delay(10);     //LeftAnklemotor.write(80, 50, true); }   void right_up() {   LeftHipmotor.attach(LeftHipmotorpin);   RightHipmotor.attach(RightHipmotorpin);   RightAnklemotor.attach(RightAnklemotorpin);   LeftAnklemotor.attach(LeftAnklemotorpin);   //(postion , speed , sync or not)     RightAnklemotor.write(70, 55, true);   LeftAnklemotor.write(60, 55, true);     delay(10);   LeftHipmotor.write(145, 55, true);   delay(10);     //LeftAnklemotor.write(80, 50, true); }   void ScanUltrasonicFront () {   distanceCmFront = ultrasonic.read(CM);   Serial.print(distanceCmFront); // CM or INC   Serial.println(" cm Down" );   delay(10);   }