Tote – Quadruped Robot¶
Tote is a small (fits inside your palm), four-legged, walking robot, with three degrees of freedom per leg, Arduino for its brains and controlled either with a TV remote, or by additional electronics added on top of it. It is very simple, cheap and sturdy, for this class of robots. Its goal is to be a starting point for anyone who wants to start building multi-legged robots.
Contents:
- Introduction
- Bill of Materials
- Required Tools
- Assembly Instructions for PCB Version 2
- Assembly Instructions for PCB Version 4
- Decide on the Version
- The Servo Headers
- Battery Header and Optional Jumper Headers
- Optional Microcontroller Socket
- Alternative, Solder the Microcontroller Directly
- Optional Battery Monitoring Circuit
- Optional Anti-brownout Capacitor
- Power Switch
- Optional IR Receiver
- Optional Piezo Buzzer
- Servo Horns
- Legs
- Assembly Instructions for PCB Version 5
- Electronics
- Software
- Modifying and Extending
- Design Decisions
- Inverse Kinematics
- Walking Algorithms
- Step-by-step Tutorial
- Soldering the Pin Headers
- Connecting the Pro Mini to the Computer
- Uploading First Arduino Program
- Blinking a LED from the Computer
- Attaching a Buzzer and Making Sounds
- Attaching an RC Servo
- Controlling the Servo and Buzzer from the Computer
- Attaching an Infra-Red Sensor
- Blinking a LED, Making Sounds and Moving Servos with a TV Remote
- Making a Pan-and-tilt Gimbal
- Attaching a Battery
- Assembling the Printed Circuit Board
- Monitoring Battery Voltage
- Quadruped with Two Degrees of Freedom per Leg
- Leg Inverse Kinematics
- Unbalanced Crawling
- Crawling Sideways
- Rotating in Place
- Turning While Crawling
- Changing Body Height
- Shifting the Body
- Balanced Crawling
- Trotting
- Attaching a Proximity Sensor
- Following an Object
- Avoiding Obstacles
- Attaching a Bluetooth/WiFi Module
- Telemetry
- Attaching an Accelerometer
- Feedback and Help