QUADPED WALKING ROBOT

Introduction : 

In the Era of Wheeled vehicles in the Automobile world, the Theo Jansen model is the upcoming technology in the walking mechanism. This mechanism is designed by Theo Jansen a kinetic sculptor. As we know wheeled mechanism will take more friction to get a moment and unable to move through discrete shape and uneven roads. By using this Jansen model 

we can make robot more stable and accurate. This model can have two, four, eight, and more legs .in this project I worked on a quad-legged mechanism. We can use solid works for designing and 3D simulation of the Jansen model. Solid Works is software that is used for making 3D models and analysis of strengths in links of a robot.

Nowadays security is a major concern for every person in their personal lives and we can use this model for surveillance and defense operations. To keep things under our observation with live video streaming and stored footage. Cameras are also upgraded to wireless and available in Bluetooth, Wi-Fi. These cameras capture images and detect the objects and send the data to the operator.

In the first Theo Jansen model, Jansen used a central crankshaft for connecting all legs.  In this project, I connected individual dc motor to connect each leg and it represent the combination of Theo Jansen model of four-legged and image recognition robot , we control this bot using a mobile application or MatLab

Theo Jansen Mechanism

 This mechanism works on one rational force acting at one or more parts of links.

There is a total of 11 joints or more in a single leg, based upon the beam strengths. The links are placed in order and with calculated dimensions. So that when a rational force applied on the joint as shown in the figure below the moment will seem like a moment of an animal leg. The relative motion plays a key role in this mechanism. In this four legged mechanism, the body of the robot placed on four legs.

The weight of the robot totally exerts on legs. So while walking the weight should be balanced. Then we can say when one leg is lifted, the other three legs relatively rest with the other or placed on the ground. But all four legs are in motion the entire time of working. 

                                                            THEO JANSEN MECHANISM

                                                                        Movement of Links in One Leg

 

  

The blue colored line is links and the red colored shapes are path movement of joints when a rotational force applied on the fixed or grounded link. All links are movable except two. These paths can be changed according to the lengths of links. In any case, the middle links are parallel and equal lengths.

There is no fixed length for linkages. The ratios of linkages are experimental values. According to design, there are two fixed joints to get the relative motion of walking.

The whole stresses on the linkages distributed equally. 

DESIGNING AND MODELING :

I used solid works for designing this model. Instead of solid works, there is much other software like Auto Cad, ZW-CAD, and more. Solid works have an advantage over ZW-CAD where solid works can show analysis of strengths and many other features.

 Before starting with the 3D model we tried to with 2D design at the beginning which is more easy and understandable.

 The model just looks like below after doing

3D model of One-Legged Mechanism in Solid Works

ESP32 Installation and Working :

Ø we need to install an add-on Arduino IDE

Ø We can use some base example programs in IDE. For this we have to go to File -- Examples-- ESP32--Camera and open CameraWebServer.

Ø A pre-programmed page will be opened. In that, we have to enter our credentials i.e.  SSID and The password of our wifi or host.

Ø Later we have to define the model of CAM. Mostly we use the AI_THINKER model. We can find the model on ESP32.

Ø Next we have to upload code. ESP32 didn’t have any USB connector, so we have to use FTDI ( It is a device used for transferring the data )

Ø Connect ESP32 and FTDI as shown and upload the program from IDE to ESP32 cam module

Ø The GPIO pin should be grounded while uploading the code and after uploading we can remove the connection.

Ø The baud rate should be selected 115200 in the serial monitor.

Ø In serial monitor we will get the IP address of the Camera we are using.

Ø We need to type the IP address in any browser. Then a page will be opened of live Video.

We can do face recognition and detection through this.

Live Video Transmission with IP address using smartphone camera as Webcam

ROBOT MAKING PROCESS :

Ø In real we need an Acrylic sheet for making the body of the robot, ESP8266 Wi-Fi module, DC motors, Blynk app in smartphone and L293D IC module.

Ø DC motor is connected to ESP8266 which is placed on bot.

The Wi-Fi module make the bot wireless

Ø ESP8266 is programmed through Arduino IDE

For interfacing BLYNK with Esp8266 and we use following code.

 Ø First we need to install the Blynk library from internet or inbuilt library in Arduino IDE

Ø And we must select NODEMUC board in tools of IDE

Ø Install app in smart phone

Ø While installing an authentication key will be sent to your mail.

Ø In-app, we create a new project and give specific name select the board ESP8266

Ø Select a widget from the side box and configure it by giving correct values. The values should be the same as the connection you are connected in real. Select the pin whether it is digital or analog. DC motor is digital type.

Ø Go to examples in Arduino IDE and select BLYNK

Ø A program will be opened

Ø We need to connect the smartphone to the same host which were going to write in the program.

Ø Give required SSID and PASSWORD.

Ø Upload the code  // DM @REDDI.X3 INSTAGRAM FOR CODE 

Now at this stage, I placed the ESP8266 on Theo Jasen model so I can control the bot from the Blynk app in smartphone and take images from the IP address.

IMAGE PROCESSING WITH MATLAB :

The images which I taken from IP address have unique URL. I can use this URL to get images. 

 Ø Webcamlist

It will show the list of available cam’s list

Ø Webcam

   It is the default webcam saved in Matlab

Ø Webcam(2)

If there are several cameras online. We can select by giving serial number.

Ø Snapshot(webcam)

  It is the command used to take images.

Ø Imshow(snapshot(cam)) or image(snapshot(cam))

  It will show the images which is taken last

Ø Preview(webcam(‘CAM_NAME’))

   It will show the preview of camera

Ø Clear(‘webcam(‘webcam((2)’)’)

This command will exit the camera.

IP ADDRESS TO TAKE IMAGES :

These are functions used for getting images

 

url = '<YOUR_URL_CONTAINING_IP_ADDRESS>';

cp = CameraPlayer;

consumer = matlab.net.http.io.MultipartConsumer('image/*',cp);

creds = matlab.net.http.Credentials('Scheme','Basic','User','admin','Pass','admin');

creds.Username = '<YOURNAME>';

creds.Password = '<YOURPASSWORD>';

 opts = matlab.net.http.HTTPOptions('Cred',creds,'SavePayload',true);

r = matlab.net.http.RequestMessage();

resp = r.send(url, opts, consumer);

 

For more information, we can access through the examples of Displaying JPEG images stream from IP camera.

 After getting images, we store them in the string or memory of the disk.

Those images further processed

 

a = imread('F:\circuit digest\image processing using matlab\camerman.jpg');

subplot(2,3,1);

imshow(a);

 

b = rgb2gray(a);

subplot(2,3,2);

imshow(b);

 

c = im2bw(a);

subplot(2,3,3);

imshow(c);

 

d = imadjust(b);

subplot(2,3,4);

imshow(d);

e = a;

e=rgb2gray(e);

subplot(2,3,5);

 

imfinfo('F:\circuit digest\image processing using matlab\beard-man.jpg')

 

[height, width, colour_planes] = size(a)

Ø Imread is a command read the image from a given location

Imtool (image ) will load the image with a toolbox.

With this toolbox, we will gain access to features like

  --Pixel Region

  --Measure Region

 

As I already mentioned in my paper we can go through the following link for more information

 

Reference for code and understanding the concept by Matlab

                                                     CLICK HERE                                                    

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