SPEAKING ABOUT ROBOT WEWILL START WITH 3D PRINTING THE PARTS. AT FIRST LESTS START WITH ROBOT LEGS.

TOTALLY THIS PART OF THEROBOTS BODY CONTAIN 18 PARTS TOTALLY MEANS EACH LEG GOT 4 PICES

IN THIS BUILD MY GOAL WASTO BUILD A ROBOT WHICH ABLE TO WALK, SPEAK AND A FACE FOR HUMAN INTERACTION

OF COURSE, THERE WAS ALOTS OF BUG AND PROBLEM SOLVING AS YOU CAN SEE. BUT WE COVER IT ALL IN THISVIDEO

THIS ROBOT USES AN 8 SERVO MOTORS. IN FACT FOR EACH LEG TWO SERVO MOTORS. I USED SG90 MODEL WITH180-DEGREE ROTATION WHICH IS ENOUGH FOR THE ROBOT MOVEMENT

AFTER ASSEMBLING THE ROBOT LEGS. ITS TIME FOR THE 3D PRINTING MAIN BODY AND CONNECTING ALL FOUR LEGS TOGETHER

WITH THIS LITTLE NUT BOLTS I SECURE MY MAIN BODY. IT LET ME PLACE THE NEXT 4 SERVO MOTORS IN PLACE.

AFTER ASSEMBLING ALL THE LEGS WITH THE BODY, NOW IT'S TIME FOR LITTLE TEST. TO SEE HOW THEY WILL WORK INACTION

I RAN A PWM TEST ON EACH LEG TO TEST IF THERE IS NO MIS CONNECTION BETWEEN THE PRINTED PARTS. AND THEY WORKED VERY GOOD.

FOR CONTROLLING JUST THE LEGS I USED ESP8266 BUT FOR NEXT PART WE WILL SWITCH TO ESP32. BECAUSE THERE ARE MORE GPIO AVAILABLE TO USE FOR MODULE THAT I WANT TO USE.

SO NOW LET'S TOGETHER WATCH THE BASIC ROBOT MOVEMENT.

ITS TIME FOR OUR NEXT GOAL. GIVING THE ROBOT A FACE AND OF CURSE A VOICE TO SPEAK.

I DESIGNED A SphericalBOX FOR THE ROBOT HEAD WHICH WILL HOLD ALL THE COMPONENT AND OLED.

ALSO TO GIVING A ROBOT FACE A GOOD LOOK I USED A BLACK PLEXY GLAS AS A LIGHT DEFUSER

AS YOU CAN SEE, THIS LITTLE PLEXIGLASS HELPED ME TO GIVE MY ROBOT AN INTERESTING LOOK AND OF COURSE PERSONALITY

I SHOULD NOW MENTION TO GIVING MY ROBOT A VOICE I USED A SV17F MODULE.

WHICH ALLOW ME TO STORE AND REPLAY THE AUDIO.

EXPANDED TECHNICAL DETAILS

Quadrupedal Gait Optimization

This project focuses on the hardware and software upgrades for the "Kame" (Turtle) quadrupedal robotic platform to improve mobility and stability.

• Servo Control Logic: Upgrades from standard SG90 servos to high-torque MG90S metal-gear servos. The Arduino coordinates the movement of 4 legs (8 DOF) using an inverse kinematics model, allowing the robot to walk, pivot, and climb over small obstacles with greater precision.
• Sensory Awareness: Integrated an MPU6050 6-axis IMU (Inertial Measurement Unit). The firmware uses a PID control loop to automatically adjust leg positioning, keeping the robot's body level even when walking on uneven or inclined surfaces.

Power & Connectivity

• Independent Power Rails: Implements a dedicated 5V 3A buck converter to power the servos, preventing the "Voltage Sinking" that occurs when servos and the Arduino share a power source, which often leads to system crashes.