Lil Spidey

By Gard S Bahmanyar, Jacob S Ellingsen

1) Topic and motivation

Our project focuses on building a walking robot with 8 legs using the Klann linkage mechanism. The robot will be able to spin, detect a target, and move towards it. The Klann linkage mechanism is a type of mechanical leg system that converts the rotational motion of gears into a walking motion, mimicking how animals move their legs. We chose this topic because walking robots are both visually impressive and mechanically interesting, and they show how complex motion can come from simple mechanical parts. A similar concept can be seen in this existing spider robot demonstration: Spider robot video.

2) Goals

The goal of this project is to design a walking robot with 8 legs based on the Klann linkage mechanism, capable of autonomously searching for and approaching a target. The robot will rotate on its axis to scan its environment using sensors, and once the target is detected, it will move in that direction. We want the robot to be able to traverse difficult terrain.

The robot will have one camera that detects a desired object or color using object detection. Based on the position of the detected object box, we give the robot instructions on how to move.

If time allows, the robot will also respond to voice commands such as ¡°start,¡± ¡°stop,¡± ¡°faster,¡± and ¡°slower¡±, influencing its movement behavior.

3) Sketch

Objective:
Make the robot walk smoothly toward the detected box and stop at the right distance using camera-only signals.

Optimization goal: We plan to optimize the robot¡¯s behavior so it can reliably detect and move toward a target without losing stability.
The optimization will focus on improving how the robot turns, moves forward, and stops at the correct distance from the object.
We will tune the movement logic and control parameters based on camera feedback to achieve smoother and more accurate navigation.

Software-plan:

1. Make the robot able to detect the desired object/color.
2. Have the robot turn and move towards the object/color, or else move around and search for the object/color.
3. Find a reliable stop distance from the object.
4. If time: make the robot respond to voice commands.

Note: To get a full overview of how the robots mechanism will work, take a look at this video

4) Bill of materials (BOM)

5) Plan

Responsibility

• Gard ¨C Software
• Jacob ¨C Mechanical

Milestones: (Based on assignments (A))

1. (A5) Design and build the main robot frame.
2. (A5) Assemble and connect all leg linkages using the Klann mechanism.
3. (A5) Test servo control and ensure basic movement of all legs.
4. (A5) Refine mechanical alignment and stability for smoother walking.
5. (A6) Integrate the Raspberry Pi and test communication with the servos.
6. (A6) Implement object/color detection using the Pi camera.
7. (A6) Make the robot move toward the detected target based on camera input.
8. (If time) Add voice-command functionality (¡°start¡±, ¡°stop¡±, ¡°faster¡±, ¡°slower¡±).