Zweibeiniger Arduino-Roboter bauen: Baby Dino DIY-Anleitung

Komponenten und Zubehör

Über dieses Projekt

Baby Dino ist ein zweibeiniger Roboter auf Arduino-Basis. Er nutzt fünf Servomotoren: je zwei pro Bein und einer für den Kopf. Ein Ultraschallsensor erkennt Hindernisse und weicht ihnen aus. So baut man ihn:

Schritt 1: Einführung

• Baby Dino ist ein DIY-Roboter mit Arduino.
• Er besteht aus Pappe.
• Er erkennt Hindernisse und weicht nach links oder rechts aus.

Schritt 2: Benötigte Komponenten

• 1 × Arduino Uno, Nano oder Mega
• 5 × 9g Servo
• 1 × HC-SR04 Ultraschallsensor
• 1 × LiPo-Akku (2S) oder 9V-Blockbatterie

Schritt 3: Servos justieren

• Programm „fix.ino“ herunterladen und auf Arduino laden.
• Servos gemäß Schaltplan anschließen.
• Servo-Hörner befestigen.
• Sicherstellen, dass alle Servos auf 90° stehen.

Schritt 4: Design

• Design-Vorlage herunterladen.
• Auf A4 ausdrucken.
• Auf Pappe kleben.
• Ausschneiden.

Schritt 5: Endmontage

• Servos an Pappe befestigen.
• Hauptprogramm „uBipedino.ino“ auf Arduino laden.
• Servos und Ultraschallsensor anschließen.
• Kabel als „Schwanz“ verlegen.
• Batterie anschließen.

Das war's!

Code

fix.ino (Arduino) – Servos auf 90° setzen

#include <Servo.h>
Servo s1, s2, s3, s4, s5;

void setup() {
  s1.attach(8);
  s2.attach(9);
  s3.attach(10);
  s4.attach(11);
  s5.attach(12);
}

void loop() {
  s1.write(90);
  s2.write(90);
  s3.write(90);
  s4.write(90);
  s5.write(90);
}

biped (Arduino) – Hauptprogramm

#include <Servo.h>
#include <NewPing.h>

// Pins anpassen!
#define IRsensorPin 13        // falls IR-Sensor statt Ultraschall
#define TRIGGER_PIN 12
#define ECHO_PIN 11
#define LEFTLEG 7
#define RIGHTLEG 10
#define LEFTFOOT 8
#define RIGHTFOOT 9
#define HEAD 6
#define MAX_DISTANCE 200

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
Servo Lleg, Rleg, Lfoot, Rfoot, Head;

int Hcenter = 70;
int RLcenter = 100;
int RFcenter = 65;
int LLcenter = 90;
int LFcenter = 75;
int tAngle = 30;  // Kippwinkel
int uAngle = 35;  // Drehwinkel
int sAngle = 35;  // Schwingwinkel
int hAngle = Hcenter;

void Forward(byte Steps, byte Speed) {
  Serial.println("Forward");
  TiltRightUp(tAngle, Speed);
  for (byte j = 0; j < Steps; ++j) {
    SwingRight(sAngle, Speed);
    TiltRightDown(tAngle, Speed);
    TiltLeftUp(tAngle, Speed);
    SwingRcenter(sAngle, Speed);
    SwingLeft(sAngle, Speed);
    TiltLeftDown(tAngle, Speed);
    TiltRightUp(tAngle, Speed);
    SwingLcenter(sAngle, Speed);
  }
  TiltRightDown(tAngle, Speed);
}

void TurnLeft(byte Steps, byte Speed) {
  Serial.println("TurnLeft");
  TiltLeftUp(uAngle, Speed);
  delay(20);
  for (byte j = 0; j < Steps; ++j) {
    LeftLegIn(sAngle, Speed);
    TiltLeftDown(uAngle, Speed);
    TiltRightUp(uAngle, Speed);
    delay(20);
    LeftLegIcenter(sAngle, Speed);
    RightLegOut(sAngle, Speed);
    TiltRightDown(uAngle, Speed);
    TiltLeftUp(uAngle, Speed);
    delay(20);
    RightLegOcenter(sAngle, Speed);
  }
  TiltLeftDown(uAngle, Speed);
}

void TurnRight(byte Stps, byte Speed) {
  Serial.println("TurnRight");
  TiltRightUp(uAngle, Speed);
  delay(20);
  for (byte f = 0; f <= Stps; ++f) {
    RightLegIn(sAngle, Speed);
    TiltRightDown(uAngle, Speed);
    TiltLeftUp(uAngle, Speed);
    delay(20);
    RightLegIcenter(sAngle, Speed);
    LeftLegOut(sAngle, Speed);
    TiltLeftDown(uAngle, Speed);
    TiltRightUp(uAngle, Speed);
    delay(20);
    LeftLegOcenter(sAngle, Speed);
  }
  TiltRightDown(uAngle, Speed);
}

void HeadRight() {
  Serial.println("HeadRight");
  Head.write(Hcenter - 105);
  delay(1000);
}
void HeadLeft() {
  Serial.println("HeadLeft");
  Head.write(Hcenter + 105);
  delay(1000);
}
void HeadCenter() {
  Serial.println("HeadCenter");
  Head.write(Hcenter);
  delay(1000);
}

// Hilfsfunktionen für Bewegungen (Kippen, Schwingen, Beine ein/aus)
void TiltRightUp(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Lfoot.write(LFcenter + i);
    Rfoot.write(RFcenter + i);
    delay(sp);
  }
}
void TiltRightDown(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Lfoot.write(LFcenter + i);
    Rfoot.write(RFcenter + i);
    delay(sp);
  }
}
void TiltLeftUp(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Lfoot.write(LFcenter - i);
    Rfoot.write(RFcenter - i);
    delay(sp);
  }
}
void TiltLeftDown(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Lfoot.write(LFcenter - i);
    Rfoot.write(RFcenter - i);
    delay(sp);
  }
}
void LeftFootUp(char ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Lfoot.write(LFcenter - i);
    delay(sp);
  }
}
void LeftFootDown(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Lfoot.write(LFcenter - i);
    delay(sp);
  }
}
void RightFootUp(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Rfoot.write(RFcenter + i);
    delay(sp);
  }
}
void RightFootDown(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Rfoot.write(RFcenter + i);
    delay(sp);
  }
}
void SwingRight(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Lleg.write(LLcenter - i);
    Rleg.write(RLcenter - i);
    delay(sp);
  }
}
void SwingRcenter(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Lleg.write(LLcenter - i);
    Rleg.write(RLcenter - i);
    delay(sp);
  }
}
void SwingLeft(byte ang, byte sp) {
  for (byte i = 0; i <= ang; i += 5) {
    Lleg.write(LLcenter + i);
    Rleg.write(RLcenter + i);
    delay(sp);
  }
}
void SwingLcenter(byte ang, byte sp) {
  for (byte i = ang; i > 0; i -= 5) {
    Lleg.write(LLcenter + i);
    Rleg.write(RLcenter + i);
    delay(sp);
  }
}
void RightLegIn(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Rleg.write(RLcenter - i);
    delay(sp);
  }
}
void RightLegIcenter(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Rleg.write(RLcenter - i);
    delay(sp);
  }
}
void RightLegOut(byte ang, byte sp) {
  for (int i = 0; i <= ang; i += 5) {
    Rleg.write(RLcenter + i);
    delay(sp);
  }
}
void RightLegOcenter(byte ang, byte sp) {
  for (int i = ang; i > 0; i -= 5) {
    Rleg.write(RLcenter + i);
    delay(sp);
  }
}
void LeftLegIn(byte ang, byte sp) {
  for (byte i = 0; i <= ang; i += 5) {
    Lleg.write(LLcenter + i);
    delay(sp);
  }
}
void LeftLegIcenter(byte ang, byte sp) {
  for (byte i = ang; i > 0; i -= 5) {
    Lleg.write(LLcenter + i);
    delay(sp);
  }
}
void LeftLegOut(byte ang, byte sp) {
  for (byte i = 0; i <= ang; i += 5) {
    Lleg.write(LLcenter - i);
    delay(sp);
  }
}
void LeftLegOcenter(byte ang, byte sp) {
  for (byte i = ang; i > 0; i -= 5) {
    Lleg.write(LLcenter - i);
    delay(sp);
  }
}

void setup() {
  Serial.begin(19200);
  Serial.println("Bipedino setup is running.");
  Lleg.attach(LEFTLEG);
  Rleg.attach(RIGHTLEG);
  Lfoot.attach(LEFTFOOT);
  Rfoot.attach(RIGHTFOOT);
  Head.attach(HEAD);
  CenterServos();
  delay(500);
  for (int i = 0; i < 5; ++i) {
    GetSonar();
    delay(1000);
  }
  Serial.println("Bipedino is ready.");
}

void loop() {
  unsigned int cmCenter = MAX_DISTANCE;
  unsigned int cmLeft = MAX_DISTANCE;
  unsigned int cmRight = MAX_DISTANCE;

  HeadCenter();
  cmCenter = GetSonar();

  if (cmCenter < 20) {
    HeadRight();
    cmRight = GetSonar();
    HeadCenter();
    if (cmRight > 20) {
      TurnRight(1, 30);
    } else {
      HeadLeft();
      cmLeft = GetSonar();
      HeadCenter();
      if (cmLeft > 20) {
        TurnLeft(1, 30);
      }
    }
  } else {
    int nSteps = cmCenter / 5;
    if (nSteps > 5) nSteps = 5;
    else nSteps = 1;
    Serial.print("Steps <");
    Serial.print(nSteps);
    Serial.println(">");
    for (int n = 0; n < nSteps; n++) {
      Forward(1, 30);
    }
  }
}

int GetSonar() {
  unsigned int uS = sonar.ping();
  Serial.print("Ping: ");
  Serial.print(uS / US_ROUNDTRIP_CM);
  Serial.println("cm");
  return uS / US_ROUNDTRIP_CM;
}

void CenterServos() {
  Lleg.write(LLcenter);
  Rleg.write(RLcenter);
  Lfoot.write(LFcenter);
  Rfoot.write(RFcenter);
  Head.write(Hcenter);
  delay(1000);
}

Schaltplan

Als Bild verfügbar.