Arduped PDF

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ARDUPED
An Arduino based Biped Robot
For technical enquiry please email us at tech@provotech.in

And for sales enquiry please email us at sales@provotech.in and vimalraval9@gmail.com
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Feature:
An Arduino based control board with ATmega328 UC.

Laser cut, powder coated metal chassis.
4 Premium branded Servo Motor.
IR Remote to control biped wirelessly.
Accessories: Battery, Battery charger and DC Adapter.
Introduction to Biped:
The Biped is basically a robot which uses legged locomotion. As the name suggests, it has two legs
for locomotion, just like humans. Its intuitive design uses 4 servo motors to make the robot move
forward, backward, left and right. The execution of these patterns gives quite a lifelike appearance.
The Arduino based controller board is used for controlling the Biped. The Biped can also be controlled
using an IR remote.
The assembly of the robot requires an intermediate level of skillset. But with the help of the assembly
guide one can assemble the robot very well within few hours. The modular sample codes provided
will help user to make the robot walk around at the minimum, however with few tweaks here and
there in the base code and one can attach sensors for better application.
The Biped Robot is put forth as a D-I-Y (Do It Yourself) kit since its design and working involves
concepts of Physics, Mechanics and Electronics and one can understand those concepts while
implementing it.
Safety Instructions:
Assembly of this kit requires one to use screwdrivers for tightening screws and nuts. Be very careful
while using screwdrivers as the screwdriver may slip and injure your hand.
The Arduped Controller Board is vulnerable to short circuits, so do not put them over a conductive
surface when powered as short circuit may damage any component, controller, motors or the battery
causing serious permanent damage.
The battery provided to you has two wires, please dont short the wires together, doing so will
discharge the battery quickly. This can damage the battery in the long run reducing its life.

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Kit Contents:

Part
Quantity
Description
The Foot:
Makes up the Left and Right Feet of
Biped Robot.
The Leg:
Makes up the Left and Right Leg of
Biped Robot.
C-Clamp:
Joins the Left and Right halves of
Biped Robot.
Top Plate:
Base Plate for mounting Battery.

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Acrylic Base Plate:

Base Plate for mounting Arduped
Controller Board.
Servo Motor:
For motion control of Biped Robot
Arduped Controller Board
Note:
In the entire manual:
Left hip: left hip of the Biped, i.e. right side, when facing you.
Right hip: right hip of the Biped, i.e. left side, when facing you.
Left foot: left foot of the Biped, i.e. right side, when facing you.
Right foot: right foot of the Biped, i.e. left side, when facing you.

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Construction of Biped:
Given below are the steps to construct the Biped Robot.
Step 1: Feet Assembly

You will need the left and right robot feet. You will need 1 RC servo motor, 4 servo mounting screws,
4 servo mounting nuts, and 1 pivot screw, for each foot.
Fasten the screws and nut as shown below:
Right Foot
Left Foot

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Step 2: Hip Assembly
You will need the left and right robot legs. You will need 1 RC servo motor, 4 servo mounting
screws, 4 servo mounting nuts, and 1 pivot screw, for each hip.
Left Leg
Right Leg

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Step 3: Leg Assembly
You will need the left and right feet (assembled in Step 1), and the left and right hips (assembled in
Step 2).
You will need 2 servo wheel mounting screws, 2 flange bushings, and 1 lock nut for each leg.
Use the previously assembled foot pivot screw, mentioned in Step 1.
Tighten all the screws as shown below.
Complete Right Leg Assembly

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Complete Leg Assembly:

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Step 4: Body Bracket Assembly
You will need the left and right body brackets, 2 body mounting screws and 2 body
mounting nuts.
Step 5: Entire Biped Assembly

You will need the left and right legs that you assembled in Step 3, and the body bracket, that
you assembled in Step 4. Also, you will need the top plate, 2 body plate mounting screws, 2
body plate mounting nuts, 4 servo mounting screws, 4 flange bushings, and 2 nuts.
Use the previously assembled hip pivot screws, mentioned in Step 2.
Screw in the body plate as shown by the blue arrows in figure 7 on the next page.
Screw in the servo mounting screws as shown by the orange arrows.
Screw in the hip pivot screws as shown by the blue and orange arrows.
Now, the entire body of the Biped has been assembled.

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This completes the mechanical assembly of your Biped. All you have to do now is to connect your
microcontroller board, and fix the servo screws so that all the servos are in their rest position. This
is explained ahead.
Note: If you want to, after assembly is over, add a little fevikwik to seal the screws and nuts so that
the joints wont become loose during motion

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Servos in Rest Position:
Once youve finished with all the mechanical assembly, and connected your board, the last thing you
have to do is fix the black servo screws (available within the servo box along with different horns). If
you fix them when the servos are in wrong positions, then you can damage your servos and your
Biped assembly too. To avoid this, follow these instructions:
1. Make sure you have not fixed the black screws in your servo motor shafts.
2. Remove the black horn (attached to the servo motors for both legs) from the servo motor shaft.
Dont remove the self-threading screw.
3. Download the Servo Rest code from the CD to your biped microcontroller board.
4. Once you load that program, connect the battery to the board and power-up the board. All motors
will be set to 90 degrees. This is considered as the resting position for all the servos.
5. Once the previous step is completed successfully, fix the black horns to the servo motors shaft
such that the legs are parallel to each other, and the Biped central frame, and both feet are lying flat
on the floor. Now fix all the black servo screws through the black rings onto the servo shaft for all the
servos.
Avoid excessive pressure on servo motors and metal frame as it can be damaged.

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Arduped Biped Controller Board
Arduped is an Arduino based board with ATmega328 microcontroller. The board can be programmed
by just a USB cable and Arduino IDE. The board has an inbuilt voltage regulatory circuit which can
provide 5v / 3A supply. There are 3 general purpose LEDs and switches which can be used as per your
application. Onboard IR receiver is provided for wireless control using IR Remote.
The below figure shows top view of the board:
Symbol
SER1 SER8
OBS1 OBS2
LED1 LED3
U$4
IC1
PWR
TSOP
Description
Servo Motor Connectors. Can
connect upto 8 servo motors
Connector for sensors
General Purpose LEDs
On / Off Switch
Voltage Regulator
Power LED
IR Receiver Sensor
Symbol
I/O
S1 S3
RST
BAT1
IC2
Tx / Rx
Description
Connected to Controller Pin.
Used for I/O operations.
General Purpose Switches
Microcontroller Reset pin
Battery Connector
ATmega328
Transmitter / Receiver LED

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Connections:
Step 1: Connecting the Servo Motors
The servo motors have 3 pin connectors, of which the brown / black wire is Ground, the red wire is
VCC and the orange / yellow wire is the signal cable. So when youre connecting the servo motors,
make sure the proper colour wire goes into the proper slot. If you connect a servo in the reverse
order, your servo may get damaged.
Step 2: Connecting the Battery

Before using a battery lets understand why we need a battery in the first place. Your board can be
powered using either USB or Battery. USB can power up your microcontroller and other electronic
components on the board but it is not sufficient to drive the servo motors. That is why we use a
battery.
Now, before connecting the battery, make sure sensor module and servo motors have been
connected in proper manner as explained before. While connecting battery first put the jumper SL1,
downwards towards battery connector. Now connect the battery provided in the kit into the battery
connector on-board. The connector is slotted and hence can fit in only one direction. Match the
connector slot at both ends and then insert the battery. Before switching ON the board for the first
time make sure you have uploaded the Servo Rest code onto your Biped and all black screws and
plastic disc of servo shaft have been removed.
Now fix all legs such that both hips are parallel, and both feet are touching flat on the ground. Jumper
can be used as a switch between battery and USB power for your servo PINs inputs on your board.
For better battery life:

Charge the battery completely before use.
Discharge the battery completely (at least to a level where it can no longer power your servos)
before recharging.
The charging process is purposefully kept slow. Slow charging will extend your battery lifetime
and runtime.
Disconnect the battery when not in use.
During charging duration do not leave the battery unattended as overcharging will damage
the battery. Using a multimeter measure the voltage across the battery while charging and
stop the process once the battery reaches around 12V.

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Programming the Controller Board:
The Arduped board is based on Arduino platform. Arduino is a tool that takes the messy details of
microcontroller programming and wraps it up in an easy-to-use IDE. Arduino not only simplifies the
process of working with microcontrollers, but it offers some advantage for teachers, students, and
interested amateurs over other systems.
Even though the Arduped board is based on Arduino, its pin connections is not the same as Arduino.
To know about the Pin Mapping of Arduped board and Arduino please refer to the table below:
Arduped Arduino Pin Mapping

Symbol
Arduino Pin
Symbol
Arduino Pin
Rx
TSOP
SER2
SER4
SER5
SER7
SW3
OBS1
SW1
LED1
D0
D2
D4
D6
D8
D10
D12
A0
A2
A4
Tx
SER1
SER3
LED3
SER6
SER8
L (LED)
OBS2
SW2
LED2
D1
D3
D5
D7
D9
D11
D13
A1
A3
A5
For programming the board install drivers for the USB to TTL converter. After installing you will find
a com port generated in Device Manager.
After completing installation go to Arduino IDE and do following setup:
Tool Board Arduino Duemilanova w/ ATmega328
Tool Serial Port Select the installed COM PORT.
After the setup upload any of the sample code or make your own.

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There are a few important functions used in the demo codes provided on the CD given to you. Let us
try and understand what each of the following functions does.
1. void enServos(boolean conDis)
This function can be called in your setup function and/or elsewhere in your program to initialize
(attach) or detach the servo motors. The function takes a Boolean parameter as an input and does
not return any value.
Eg1: enServos(True); // Initialize all servo motors to the required pins
Eg2: enServos(False); //Detach all servo motors from the attached pins
2. void rest(void)
This function can also be called in your setup function and/or elsewhere in your program to initialize
all servos to their initial rest position. Ideally, all the servo angles should be 90 degrees for this rest
position, but it is not always so. It may vary up to 5 degrees (max). You may change these values for
the best fit rest position. To do so change the values of LFneutral, RFneutral, LHneutral and
RHneutral. The default value is 1500. This function does not take any parameters, and does not
return any values.
3. void enableRemoteReceive(void)
This function has to be called at the beginning of your main function to initialize the IR remote. This
function does not take any parameters, and does not return any values.
4. int readRemote(void)
If any key on the remote is pressed, then its equivalent value will be returned by the function. If no
key is pressed, then the function will return zero. The values for each button are defined in the header
file of IRremote.h.
5. void walk_begin(void)
This function should be called at the beginning of any walk sequence. It is to bring the Biped from
rest position, to a position from where a continuous walking gait can be executed. It should ideally
be followed by the function walk ( ). It consists of one balance shift motion, direction as specified,
and one hip forward motion.
6. void walk(void)
This function executes a continuous walking gait, starting from the walk_begin( ) position. Every call
of this function executes one walking step. It ends in a position from where it can begin a walking
step once again. It should not be called directly from the rest position, it should be called after
walk_begin( ).
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7. void walk_end(void)
This function should be called at the end of any walk sequence. It is to bring the Biped from the end
of the walking position, to rest position. It should ideally be called after walk( ) is called as many times
as the number of steps are required to be walked. It consists of one balance shift motion to the other
foot, the hip coming to rest, and the foot, then in the air, coming back down on the floor.
E.g. walk_begin( );
walk( );
walk( );
walk( );
walk_end( );
Execution of these functions would cause the Biped to take 4 steps, 1 at the beginning, due to
walk_begin( ), and 3 due to the 3 calls of walk( ). It would start from rest position, take 4 steps and
come back to rest position.
8. void turn(void)
This function is calibrated with appropriate delays so as to take a turn, given which turn is to be taken,
i.e. the hip which is not declared unmoving.
9. void controlServos(int FLlimit, int FUlimit, int HLlimit, int HUlimit)
This function is the one which is responsible for the walking gait of the Biped. It takes 4 parameters,
2 being the upper and lower limits for the feet, and 2 being upper and lower limits for the hips. It
controls the movements of the feet and the hips, as per the limits specified. It is responsible for 1
foot motion, followed by 1 hip motion. All the walk functions, and the motion functions call this
function to complete their actions.
10. void forward(void), void backward(void), void left(void), void right(void)
These functions are the motion functions which do as their name implies.


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PROVOTECH

Sense. Innovate. Educate

For technical enquiry please email us at tech@provotech.in

An Arduino based control board with ATmega328 UC.

For technical enquiry please email us at tech@provotech.in

Sense. Innovate. Educate

For technical enquiry please email us at tech@provotech.in

Acrylic Base Plate:

Arduped Controller Board

For technical enquiry please email us at tech@provotech.in

Given below are the steps to construct the Biped Robot.

Step 1: Feet Assembly

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

Complete Right Leg Assembly

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

Step 5: Entire Biped Assembly

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

Step 2: Connecting the Battery

For better battery life:

For technical enquiry please email us at tech@provotech.in

Arduped Arduino Pin Mapping

For technical enquiry please email us at tech@provotech.in

For technical enquiry please email us at tech@provotech.in

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