ECE 110/120 Honors Lab Section : Hexapod Robot (Team 17)

Name	NetID	Section
Michael Sutanto	sutanto4	ECE 110 A3
John Truong	jtruon9	ECE120 A2
Xinyu Wu	xinyuwu4	ECE120 A2
Yu Li	yuli9	ECE120 A1
Soham Manjrekar	sohammm2

Statement of Purpose

Doing this project allows us to go thrgouht the complete procedure of building a robotic device. Building the hexapod robot requires us to design both hardware and software component. We will learn how to use mirocontroller to manipulate the robot and how to assembly it efficiently. It would be profoundly meaningful for our future learning.

Background Research

Compared to humans, robotics are more popular in some of today’s workforce. Robotics are tireless, efficient, and secure. Among them, the hexapod robot is one of the most employed robots because of its precision in automated positioning and alignments of parts. Part of our background research includes the structure of the hexapod robot. By applying bionics (mimic the structure of limbs in insects), the hexapod is able to keep a nice equilibrium while moving, which allows it to have better precision.[1]

This project is a great opportunity to enhance our ability to apply software and hardware in building a machine. The remote-controlled walking machine introduces digital control, robotic programming, and robotic mechanism. Our works will involve signal processing, gait programming, frame design, movements, and so on. It’s an integrated process to work on, and a chance to improve our ECE knowledge from the experience on this project.

Block Diagram / Flow Chart

BLOCK DIAGRAM PROJECT FLOWCHART

System Overview

Block Name	Purpose
Joystick Controller	Main input device
Wireless Receiver	Wirelessly receives signals from the joystick
ESP 32 Microcontroller	Processes information, handles Motor control, handles gait algorithm
Gait Algorithm	An algorithm that translates input signals into limb target coordinates
Inverse Kinematic Calculators	Algorithms individually tailored for each limb to translate coordinates to motor movement
End actuators	The servo motors controlling the limbs

Parts

Provide a list of parts that you may need for your project. You should include details such as the quantity, model number, purpose, vendor, and price (excluding taxes and shipping) for each part. This list may change as you work on your project.

	Model No.	Quantity	Price	Vendor	Purpose
1	ESP32 Dual-Core Development Board	2	6.04 USD/unit	'arduinouno' store in Tokopedia	The two dual-core boards would be used for: 1)Servo Synchronization 2)Implementing Inverse Kinematics Algorithm 3)Receiving Signal Input and Processing to desired coordinates using gate algorithm
2	SG-90 TowerPro MicroServo	20	0.81 USD/unit	'Happy Indonesia' vendor in Tokopedia	3 Micro Servos will be used in each of the six limbs to facilitate robot movement.
3	Wireless PS2 Controller and Receiver	1	5 USD/Unit	'Athena Game Shop' vendor in Tokopedia	Chose to use PS2 Controller because the receiver could easily be connected to ESP using Jumper Cables
4	Jumper Cables (Male/Male, Female/Female, Male/Female)	+-80 pcs	0.80 USD/20PCS	'ARDUSHOP-ID' vendor in Tokopedia	For connecting parts of the robot
5	PLA 3D Printed Parts	+- 150 gr	0.2 USD/gram	Fomu 3D Printing Solutions	3D Printed Parts that require greater accuracy
6	PLA+ 3D Printer Filament	1 Roll	13 USD/roll	'voltapro' vendor in Tokopedia	3D Printed parts that could be printed individually

Possible Challenges

Some challenges that may arise are the difference in time zones. A majority of the team members are international, so figuring out a time to meet can pose an issue. Another challenge may be the assembly of the robot or at least a physical one. Because team members are abroad, creating something physical may not be feasible; if it should happen, only one person would have to put in a lot more time and effort into constructing the robot.

Final Result:

Final report

References

[1]C. Urrea, L. Valenzuela and J. Kern, "Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody", Applications from Engineering with MATLAB Concepts, 2016. Available: 10.5772/63388 [Accessed 19 February 2021].