BOB808 - Peter Šeban, Jerguš Greššák

Task

The first goal was to build the robot BOB. After building the robot, our task was to learn (program) it walking. We were also supposed to set this walking choreography as an initial movement sequence when BOB is switched on.

Solution

Algorithm

To make robot walk, similarly to human, we need to make use of concurrent movements. Unfortunately, our Arduino code for Otto doesn't support concurrent movements. Therefore, we have to simulate concurrent movements by smaller steps.

For walking forward we use four motors. Two for moving left and right leg and two for moving left and right foot. The movement is like this: Right foot is moving forward and its foot is stretching. At the same time the other leg is moving backward and its food flexing. After reaching the maximum position legs and foots returns to original position. Then it is time to repeat the sequence starting with other leg. Code for whole procedure is below.

@1 1 100
1 2 100
1 3 100
1 4 100
1 1 110
1 2 110
1 3 110
1 4 110
1 1 120
1 2 120
1 3 120
1 4 120
1 1 110
1 2 110
1 3 110
1 4 110
1 1 100
1 2 100
1 3 100
1 4 100
1 1 90
1 2 90
1 3 90
1 4 90
1 1 80
1 2 80
1 3 80
1 4 80
1 1 70
1 2 70
1 3 70
1 4 70
1 1 60
1 2 60
1 3 60
1 4 60
1 1 70
1 2 70
1 3 70
1 4 70
1 1 80
1 2 80
1 3 80
1 4 80
1 1 90
1 2 90
1 3 90
1 4 90
0 0 0

Photos

Video

https://www.youtube.com/watch?v=_GjNRaVuM4g

Source Code

File:Bob808.zip