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Spider Pig - Autonomous Hexapod Robot (Bachelor Thesis Project, Linköping University)

http://www.fregu856.com Bachelor thesis project by Joakim Bertils, Jonas Ehn, Fredrik Gustafsson, Kevin Kjellén, Erik Ljungzell, Christoffer Malmgren and Jens Månsson, a group of seven students (in applied physics and electrical engineering) at Linköping University, Sweden. Main hardware: 1x PhantomX AX Metal Hexapod Mark II Kit (including 18x Dynamixel AX-12 servos, excluding the ArbotiX Robocontroller) 3x ATmega1284p microcontrollers 7x IR distance sensors 1x ultrasonic distance sensor 1x MPU-6050 IMU 1x LCD display 1x FireFly Bluetooth modem 1x Raspberry Pi 3 Model B 1x Raspberry Pi Camera Board 5 MP The robot can navigate a simple maze (containing both low and high obstacles) autonomously and be controlled manually with an Xbox controller connected to a PC. It communicates with the PC over Bluetooth. The system is divided into three subsystems (control, sensors and communication), with one microcontroller each. The subsystems communicate via an SPI bus. The Raspberry Pi is configured as a WiFi hotspot and streams video to a Linux computer. The walking algorithm is based on inverse kinematics. A PD controller is used to keep it centered in corridors. ***************************************************************** Utfört i kursen TSEA56 - Elektronik kandidatprojekt, av sju studenter (teknisk fysik och elektroteknik, Y-programmet) vid Linköpings universitet. ******************* Y-sektionen