Development of a walking algorithm and leg to wheel based transformation algorithm and implementation of master and slave communication system using i2c in a transformable four wheeled-legged robot
This thesis objective is to develop a walking and transformation algorithm into a transformable four wheeled legged robot, which was built during 7th semester at Mechatronics System Design 2 (MSD-2) subject in a group, consists of Ridho Iman Syahputra, Kenneth Hartono and Hans Krisna, so the robot is able to walk and transform into a car mode and be driven using wheels. The robot control system consists of 5 microcontroller boards, which acting as 1 master and 4 slaves to control the robots legs movement using I2C communication system, and a PC, which sends commands to the master microcontroller board via Bluetooth. Each leg of the robot consists of 4 DC Servo motor, 3 DC Servos are used to control the joints of the leg and 1 to control the robot wheel, and has 1 Slave Microcontroller board. The Master Microcontroller board will receive the command input from PC and sends command to the addressed slave board to control the actuators in each leg. The robot is programmed to do 5 tasks; walk forward, turn left, turn right, transform into car mode and lastly drive the wheels.
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