Synopsis

Project: WalkerBot
Website: http://bipedbot-walkerbot.com

Robotics is akin to mans’ eternal quest to evolve into a higher intelligent

being, which is a continuous yet, a gradual process. This realization dawned upon
me while working on my final year project. In retrospect, I feel it was always there,
ensconced in my subconscious.

Robotics is not only a specialization; it encompasses a myriad of Engg fields.

The qualitative and quantitative knowledge gained from the different disciplines of
Engg are put to test and this culminates into creativity coming to life. As thoughts
transpire into action through deliberation; we use the computer as a tool, to bring
to life, an intelligent device, much like a child of the computer. This can be equated
to the process of giving birth. As an engineer I too wanted too express my
creativity by translating my vision into a robot.

The greatest challenge was the fact that robotics is not a subject in my
college curriculum because this field is in a nascent stage in India. However, this
did not deter our team from carrying out the study on our own. A year before
undertaking the project I forged a team with two other batch mates. The three of
us had different expertise but the same passion for Robotics and allied fields. Our
diverse skills complemented each others work and proved decisive for the team
work. This was the beginning of an intensive learning period and regular knowledge
sharing sessions.

However, we were yet to face our biggest constraint in the form of non
availability of parts and tools, besides a limited budget at our disposal. Each
difficulty was overcome with ingenuity and keen observation of materials around
us. This has also been highlighted in the synopsis.

When we finally displayed WalkerBot in our college, it was popularly referred

to as my kid! (Due to its shape and size) and also deemed as one of the best major
projects in the department of Computer Science and Engineering. This gave further
impetus to my resolve to pursue my interest in robotics.

Sidharth Sood
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Website: http://bipedbot-walkerbot.com

Project description: WalkerBot is an autonomous biped robot, which utilizes

tilt & stride motion for walking and uses IR sensors for object detection and
avoidance. The Brain or the central control is provided by reduced 8051 i.e.
AT89C2051 (an Atmel variant). The aim is to make a mechanical device
walk with the aid of Electronic Hardware and control software.

Major Parts and snapshots:

WalkerBot Mainboard (Finished PCB)

WalkerBot Frame

IR Sensor components: IR Detector & IR Led. (Fig-1)

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Website: http://bipedbot-walkerbot.com

WalkerBot’s Rear View

WalkerBot’s Front View

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Website: http://bipedbot-walkerbot.com

Walkerbot Top View, observe that the feet are designed from sheet metal

Selection of parts & Cost Economics

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Website: http://bipedbot-walkerbot.com
For learning Robotics, readymade kits are available. To our dismay, we discovered that this
was not the case in India as they have to be imported at a very high cost. But as the old
adage goes ‘adversity leads to innovation’. We foraged the local market for suitable
substitutes, and this adventure turned into a lesson on practical engineering.

Use of Atmel based 8051 microcontrollers, in lieu of 6811hc which is used for
most of the popular robotics experiments abroad. Cost benefit RS 900-40=Rs 840 (cost
of 6811hc vs. 8051). Apart form the cost benefit, 8051 is the most popular IC for
embedded system development and also for teaching microcontrollers. The Atmel variant
(AT89C2051) is also, readily available in the Indian market.

Use of Copper Etched PCB instead of a machine Fabricated one: The PCB
designing was done using Orcad. To further decrease the cost, the PCB was etched
manually, using the wire routing Diagrams made in Orcad Layout. Approx difference Rs
600/700.

Use of Mechanix: Mechanix a game for children was used, instead of getting WalkerBot’s
body parts forged. In addition to the ease of development, the metal was light and sturdy
as it is a cheap alloy of aluminum. All metallic parts cost about Rs 250. Note: the game is
not a Robot development Kit.

Keen Observation of daily use appliances:

• Gears and pulleys are used largely in boom boxes and music systems, so these parts
were extracted from old and defunct devices. The humble cassette player provided
the sturdy gear and pulley driven assembly.

• Servos salvaged from junk floppy drives.

Height of Ingenuity:

• Aluminum Clothes hanger was fashioned into rods (both tilt and stride). Support
rods for the WalkerBot’s feet and motor shafts.

• WalkerBot’s feet were designed out of scrap material (sheet metal) left in a
blacksmiths shop.

• Metallic Curtain clips for making the stride rod.

• Sun Mica for making the base of the battery clamps.

• Sewing Machine Bobbin used as a washel to aid the locomotion of the Legs, which
were clamped by Plastic clips.

• Touch of metallic silver and black paint for the feet and shaft also available at home.
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Website: http://bipedbot-walkerbot.com

Electronic Hardware Design Tool

Orcad 10.0 Unison pack was used for designing the Mainboard of WalkerBot. The tools
used primarily were Orcad Capture and Layout. For details on how the hardware was
selected please look up the soft copy of the file. The following is a snapshot during the
Schematic design phase:

Firmware (Software) Design Tool:

For designing the Control Software Keil C-51 suit of compilers, assemblers, debuggers and
simulator was used. The tool was selected because of the vast support available on the net,
in the form of coding examples and library. Another advantage of the tool is the size of the
output file (Hex code) is quite small, which is a decisive factor for embedded applications.
The coding has been done in C and fully supplemented with a large no of comments.

Debugging phase during Software Development

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Website: http://bipedbot-walkerbot.com

WalkerBot’s Theory:

Walking

Like humans WalkerBot too, walks using a controlled fall i.e. in humans the body tilts
slightly forward and a leg is moved in front to stop the fall. This is more noticeable during
running or a fall due to misstep.
Similarly, the WalkerBot walks with a controlled but its movement is done via
shuffling and balancing i.e. due to the limited range of movement it can lean to
Either side or stand flat with both feet on the floor.

The simplified algorithm for the walking is thus:

a. Tilt to the right (Motion: Tilt)

b. Move the left leg that is not on the ground, in the forward direction (Motion: Stride)
c. fall forward (balance on both feet)
d. Tilt to Left (Motion: Tilt)
e. Move the leg that is not on the ground (Motion: Stride)
f. Fall forward and, go to (a). (Repeat the process)

The steps (a), (b), (d) & (e) comprise shuffling i.e. by tilting to one side and then striding.
The step (c) refers to the act of balancing

Note: The Algorithm has been simplified for explanation but the actual implementation
involves fair bit of programming and knowledge of the hardware used.

Turning:

Turning in the case of Walkerbot is Akin to turning on a surface with low friction like
ice or, or a heavily polished floor. On a slippery surface a person turns by placing one foot
ahead and then pulling the same towards him. In a way the stationary foot is used as a
pivot.

Similarly, WalkerBot turns by placing both feet flat on the ground and sliding them in
opposite directions. Moving the feet in opposite directions is somewhat counterproductive
because some of the forces are in opposite directions. The actual movement is more of a
pivot than a turn.

External world sensing

External world sensing is done for Object detection and avoidance by using IR
sensors, as depicted in the figure (fig-1) displayed earlier.

The different possible cases in which the robot can face obstacles are shown on the
succeeding page:
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Website: http://bipedbot-walkerbot.com

Now, based on these possible cases the algorithm is as follows:

1. Output 38.5 kHz to left IRLED ( i.e. beep the IR LED 38,500 times/second)

2. If receiver detects a signal, there is an obstacle in left hand side, turn right.

3. Stop output of 38.5 kHz to left IRLED.

4. Wait for a particular time.

5. Output 38.5 kHz to right IRLED.

6. If receiver detects a signal, there is an obstacle in right hand side, turn left.

7. If signals are detected by both detectors, there is an obstacle in the front, default
turn right.

8. Stop output of 38.5 kHz to right IRLED.

9. Wait a particular time, for receiver signal to go low.

10. If receiver still detects a signal, the signal may be coming from other source such as
a remote control.

Note: The Algorithm has been simplified for explanation but the actual implementation
involves fair bit of programming and knowledge of the hardware used and understanding of
the Reactive AI Paradigm.
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Website: http://bipedbot-walkerbot.com