INU 2.0 Quadraped dog

Let's Make Robots Robots
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INU 2.0 is a servo actuated quadraped dog robot ,that takes input from a  SHARP sensor and a TSOP sensor.It is controlled by  arduino duemilanove atmega328.

My aim was to build a dog robot, that is capable of walking with a balanced motion in all directions forward, backward, horizontally sidewards ,turns with various radii,rotate on the spot, perform tasks like detecting the presence of objects around it and approaching towards them , wall following , sitting in different styles , shakehands , jumping etc..

 

The body is made up of 3mm thick acrylic material ,parts were designed in CAD  and cut on CNC machine.

 9 servo motors were used, 8 motors for leg movements and 1 motor for the head movement , with a SHARP sensor sitting on the head servo.The code enables INU to simultaneously move the head in search of objects and read values from the SHARP sensor to find the distance and position of object and respond quickly with movement in the correct direction to finally reach the object.

A bit of math is used in the code to convert the SHARP sensor's output voltage values to a leniar distance output with a precision of 2-3cm, when the sensor detects an object , the head servo returns the angle at which it has noticed the object , so the code decides how many steps are to be taken , the number of turns , what type of turns are  to be taken to reach the object correctly and accurately

 

 

 

navigates in any direction , balanced walk, objects tracing, tracks and follows objects in its surroundings, various sitting and resting positions, shakehand, wall following

  • Actuators / output devices: 9 Servos
  • Control method: Arduino Duemilanove via USB currently
  • CPU: Arduino Duemilanove
  • Operating system: Arduino C
  • Power source: 12V 3A adapter
  • Programming language: Arduino C++
  • Sensors / input devices: Sharp IR, TSOP Sensor
  • Target environment: indoors mainly
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/inu-2-0-quadraped-dog
1 Like
2

Ummm…

Typically, folks like to add a description of the robot they have built.

3

Add a video of it in action

Add a video of it in action, if you can, would be nice too;

4

my new account sir , i will

my new account sir , 

i will add the description as soon as possible,.

5

sure… i wil upload the

sure…  i wil upload the video , but right now my internet speed is very slow , so i didnt.

 

6

it looks nice!!:slight_smile: please do

it looks nice!!:slight_smile: please do add more pics and info as soon as its possible

7

Nice…

How about making it peeing besides a wall? :stuck_out_tongue:

8

I wonder how you were able

I wonder how you were able to making just for $100!

Please give me the link where you got it all from…(I could see in your video that the Aurduino is bought from RoboSoft Systems

But where did you get all other materials?

(especially the micro servo)-please tell me too…dying to make a humanoid whithin next few months…

9

hai ! im am a student of IIT

hai ! im am a student of IIT BOMBAY …   In Mumbai i get servos and other components for low prices …  wer do u live??

10

funny…

funny…

11

Ok-!

I live in ghaziabad, very close to Delhi… Here, only ‘SoMe’ parts are available in far off places like Cannaught Place…(thats a huge market-{actually,not fair to be called a market})

 

I’ve seen some parts on robosoftsystem’s website and hobby2go.com… 
But that still seems tragic…You get a servo which is worth 250-300rs. for 400 rs,you pay 200 for shipment, and therefore you get a .300 servo for rs.600!

12

Nice Robot!!!

nice robot deepak why not put your robot in Techfest 2013.As you are IIT student.

13

Wicked!

 

I’m new to robotics, and think of SHARP as a brand, rather than a kind of sensor.  What kind of sensor is it, exactly?  Your coding must be awesome!  Would you be willing to share some of it?  I would love to make a quadruped pet (but mine will be more cat-like).

14

sharp sensor is not a brand

sharp sensor is not a brand .it is an IR distance sensor, dat gives analog voltage output which corresponds to  distance of object.

it is funny! :smiley:  but what do u mean by more cat like??