Remembering the Facts

 According to Loup Ventures research, the industrial robotics market is expected to grow by
175% over the next decade.

 By 2038, robots able to work and interact with human workers. They will also have humanoid form
and ability to communicate, where the needs and budget will make it possible.

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Topic:
“IoT Multi Terrain
Quadruped”

Presented By:
Hamza Latif 2016145
Muhammad Ahmad 2016264
Zaighum Akhtar 2016539
Advisor: Dr Nisar Ahmad
Umer Javed 2016513
Co-Advisor: Mr. Mazhar Javed
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Our Objective

To design and implement a robot, capable of walking (four leg movement)

with three degree of freedom (DOF), remotely controllable via IoT.

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Block Diagram
Android App

IoT Cloud

Camera Module Controller

(Raspberry Pi)

Servo Motors

4 leg limb Motion

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Progress of project

Servo Motor
Operation

Gait Study
Wooden Prototype Metal Design
Stability Analysis

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Detailed Description
Kinematics

• Branch of mathematics that studies all possible motions of a body.

• Two Types of Kinematics Analysis:
1. Forward Kinematics
2. Inverse Kinematics

Link: https://medium.com/rive/select-behind-objects-in-nima-241368b52496
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 Forward Kinematics
 Using Denavit-Hartenberg Approach

Denavit-Hartenberg (DH) Parameters:

1. Link Length (a)
distance between joints at both ends of link
2. Twist Angle (α)
angle between two joint axes attached at both ends of the link
3. Joint Angle (Ɵ)
an angle of one link relative to the previous link
4. Joint Displacement (d)
displacement of one link relative to the previous link (d)

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 Denavit-Hartenburg Table (DH)

 ai is distance from zi-1 to zi measured along xi (constant)

(link length)
 αi is angle from zi-1 to zi measured along xi (constant) (link
twist)
 di is distance from xi-1 to xi measured along zi-1 (link off-
set)
 θi is angle from xi-1 to xi measured along zi-1 (joint angle)

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 General Form of Transformation Matrix

Abbreviations:
c implies cos
s implies sin

Transformation Matrices result from DH table

81 21
𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃1 0 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃2 0 53
5 5 𝑐𝑜𝑠𝜃3 −𝑠𝑖𝑛𝜃3 0
−𝑐𝑜𝑠𝜃1 𝑠𝑖𝑛𝜃1 0 0 4 5
0 1 2
1𝑇 = 2𝑇 = 0 0 −1 − 3𝑇 = 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3 0 0
5 5
0 0 1 0 0 1 0
2 −𝑐𝑜𝑠𝜃2 𝑠𝑖𝑛𝜃2 0 0
0 0 0 1
0 0 0 1 0 0 0 1

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MATLAB Code for Forward Kinematics Matrices

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12
Position Vector obtained From Forward Kinematics

21𝑠𝑖𝑛Ɵ1 4𝑐𝑜𝑠Ɵ1 53𝑠𝑖𝑛Ɵ1 𝑠𝑖𝑛Ɵ2 81

𝑥= − + +
5 5 5 5

21𝑐𝑜𝑠𝜃1 4𝑠𝑖𝑛𝜃1 53𝑐𝑜𝑠𝜃1 𝑠𝑖𝑛𝜃2

𝑦= − − −
5 5 5

5 53𝑐𝑜𝑠Ɵ2 1.3 kgs

𝑧= −
2 5 Dimension Chart

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Inverse Kinematics Equations
Approximating Solution Method:- 𝟐𝟓 𝟓𝒛
𝜽𝟐 = 𝐜𝐨𝐬 −𝟏 −
𝟏𝟎𝟔 𝟓𝟑
𝑦 1 1 5
[x,y,z]=[14,10.8,-10.6] = − + tan 𝜃1 − +
𝑥 tan 𝜃1 tan 𝜃1 81
[xm,ym,zm]=[0,0,0]
𝑦 −81 + 81 tan 𝜃1 2 − 81 + 5 tan 𝜃1
=
𝑥 81 tan 𝜃1
Ɵ1 Ɵ2 Ɵ3
81y
89.6° 40.2° 0° 81 tan 𝜃1 2 + (5 − )tan 𝜃1 − 162 = 0
x

81𝑦 81𝑦
−5 + 𝑥 ± (5 − 𝑥 )2 − 4 81 (−162)
tan 𝜃1 =
2 × 81

−𝟏
𝟓 𝒚 𝒚 𝒚𝟐
𝜽𝟏 = 𝐭𝐚𝐧 − + ± 𝟒𝟏𝟐𝟔 − 𝟒𝟓 𝟐 + 𝟓𝟏𝟔 𝟐
𝟏𝟔𝟐 𝟐𝒙 𝒙 𝒙
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Electrical Circuitry

Protection Relays

Common ground
Connection

Servo Motors
For legs

6 Volts
16 Amps

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Hardware and Software
Implementation
 Progress

Current Level: Motor

Control
 Simulating Servo Motors
 Complete Modeling
 IoT Control
 Camera Installation
Gait
 Body Stability Stability Quadruped Type

Further Proceedings:

 Battery Selection
 Obstacle Avoiding IOT
Control
 Finalizing gait selection

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Static Stability

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Quadruped Creeping Gaits

Total no. of possible gaits if a robot has ‘K’ legs

N= (2k-1)!
o(b) and (e) gait gives maximum stability in x & -x direction.
o(c) and (f) represents crawl gait in y & -y direction.
o(a) and (d) creeping gaits for suitable turning.

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Internet of Things (IoT)

• Controller is wirelessly
connected to a network
• We can access IP address
for our controller through
an android app and
perform all needed
operations

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IOT Operations

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Gantt Chart

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Acknowledgements

We would like to thank

Faculty of Mechanical Engineering:

1. Dr. Abid Imran
2. Hassam Baig (Student)
3. Tahir Fairs (Student)

for their support in progressing our project and will always adore there
efforts.

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Thank You!
Any
Questions

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