SPIDERBOT 
This robot uses an Arduino Pro and runs off a 12.6V Li-Ion battery. It has 12 servos in it's legs which allow it to move, wave it's little hand and dance!
Tech: Embedded systems, Arduino, Li-Ion battery
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Links:
Full ProjectLessons learned:
- Real-world controlling
- Working with li-ion batteries
- See inverse kinematics in practice
- Soldering on a perfboard
Description:
I have always been fascinated by spider-robots so I made my own. Creating this involved making my own circuit on a perfboard, 3D printing all the parts and putting it all together with a good controlling algorithm. The spiderbot has 4 legs which have a total of 12 servos inside them.
The circuit starts with a 12.6V Li-Ion battery which goes into a DC/DC voltage converter to convert it to 5 Volts. These 5 Volts go into the Arduino Pro board and into the 12 MG90S servos. The arduino controls the servos using PWM through it's digital pins.
The Arduino C++ code uses the Servo.h library to control the servos (handles the PWM signal generation) and FlexiTimer2 to move smoothly between position interpolation logic.
Work in Progress:
This is my only project here which is not yet finished.
- I am currently working on a custom PCB with the STM32L412KBT6 microcontroller - just to make it even quicker and special :). And to learn how to make PCBs with microcontrollers.
- Programming it with using a Real Time Operating System.
- I'm also currently working on controlling it through Bluetooth.
- Finally it needs better power stability by getting a better battery or more decoupling capacitors.