PolyDog V1

Presentation

This project has taken place during the Arduino Class of the second year of prep school at Polytech Nice Sophia.
In the text, "We" will represent Raphaël Anjou and Hugo Durand, who worked together on this project.
We had four months to build any project we wanted as long as it used Arduino hardware. A robot dog was an idea that we found very challenging and entertaining.

Dozens of other robots inspired us to do this project and helped us in the design of our robot.

Summary

• PolyDog V1
  • Presentation
  • Summary
  • Robot Parts
    • Leg parts
    • Body parts
    • Electronic Components
  • Flowchart
    • Initialization
    • Remote Control
    • Camera
    • Movements

Robot Parts

Leg parts

Name	Preview	Description	Material
Femur		Attached to the hip to hold the knee. Is connected to the tibia.	3D-printed
Foot		Attached at the end of every tibia, it helps with the grip on the floor.	3D-printed
Gear		Attached to the servo responsible for the whole leg movement. Is connected to the hip.	3D-printed
Hip		Link between the servo motor for the whole leg and the femur. Is moved by a gear. Hold the knee in place.	3D-printed
Knee		Link between the servo motor for the knee and the tendon to make the anatomical knee move. Directly attached to the servo.	3D-printed
Leg Holder		Hold the two servo motors necessary to make the leg move.	3D-printed
Tendon		Link between the knee and the tibia.	3D-printed
Tibia		Link between the foot, the femur and the tibia. Is moved by the tendon and rotates around the point where the femur is attached.	3D-printed

Body parts

Name	Preview	Description	Material
Back		Close the robot body to protect and hide all the hardware and cables inside.	3D-printed
Base		Core of the body structure.	3D-printed
Ribs		Help with the rigidity of the whole body. Protect the hardware from being hit. Hold the SSC-32.	3D-printed
Servo Bracket		Hold one servo motor in place.	Aluminium
Spine		Hold two legs and store the power cable.	3D-printed

Electronic Components

Name	Preview	Description
Arduino UNO		Robot brain.
SSC-32 Servo Controller		Receives command from the Arduino UNO to control every servo motor.
Servo motors		Moves the part of the body they are connected to.
Infrared Remote & Receiver		Remote control of the robot movements and actions.
Pixy Cam 2 & Mount		Camera of the robot. Is able to detect colors. The camera can be moved on 2 axis with it's mount.
Power source		Powers all the electronic components. 30 Amperes and 5 Volts.

Flowchart

Initialization

Remote Control

Camera

Movements