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ACEBOTT Quadruped Bionic Spider Robot Tutorial

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Quadruped Bionic
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  • Page 1 E-mail:support@acebott.com https://acebott.com Quadruped Bionic Spider Robot Tutorial...
  • Page 2 Our Company ACEBOTT STEM Education Tech Co.,Ltd Founded in China's Silicon Valley in 2013, ACEBOTT is a STEM education solution leader We have a team of 150 individuals, including members from research and development, sales, and logistics. Our goal is to provide high-quality STEM education products and services to our customers.

  • Page 3: Customer Service

    Customer service ACEBOTT is a dynamic and fast-growing STEM education technology company that strives to offer excellent products and quality services that meet your expectations. We value your feedback and encourage you to drop us a line at support@acebott.com...

  • Page 4: Table Of Contents

    E-mail:support@acebott.com https://acebott.com Contents Lesson 1 Software Installation and Hardware Understanding ......5 Ⅰ.Software Installation ......................5 Ⅱ.Hardware Knowledge ......................20 Ⅲ.Servo Drive .......................... 22 Lesson 2 Assembling the Robot ................28 Ⅰ.List of Parts ..........................28 Ⅱ.List of Structural Parts ......................28 Ⅲ.Assembly Steps ........................

  • Page 5: Lesson 1 Software Installation And Hardware Understanding

    E-mail:support@acebott.com https://acebott.com Lesson 1 Software Installation and Hardware Understanding Ⅰ.Software Installation In the quadruped bionic spider project, we mainly use ACECode as the programming software. ACECode is a graphical programming software that allows users to program by simply dragging and dropping blocks, without needing to master complex programming languages.
  • Page 6 E-mail:support@acebott.com https://acebott.com 1. Install ACECode Download the ACECode installer from the official website. Visit the ACECode official website at https://www.acebott.com/pages/software, enter the software download page. Choose the ACECode software version for your corresponding system to start the download. Attention: 1.This tutorial is applicable to ACECode version 2.0 and above. You can check the software version number in the upper left corner of the ACECode software.
  • Page 7 E-mail:support@acebott.com https://acebott.com (1) Installation method under Windows system ①Double-click the downloaded installation program and follow the instructions below to install ACECode. ②After clicking on the software, the following screen appears and click "Install".You can choose the default installation path or choose your own software installation route.
  • Page 8 E-mail:support@acebott.com https://acebott.com ⑤ Find the shortcut for ACECode on your desktop and double-click to open the ACECode. (2) Installation method under Mac system ①After the download is complete, the installation package file will appear as shown in the figure. Click to install the software.
  • Page 9 E-mail:support@acebott.com https://acebott.com Note: 1.Please select the appropriate software version for download based on the type of processor your Apple computer is equipped with (ARM or Intel).You can send the "uname -m" command through the terminal to query the processor type.
  • Page 10 E-mail:support@acebott.com https://acebott.com ② When you click on the installation package, the installation interface will appear. Simply select the ACECode icon and move it to the Applications folder to install the program. ③ After the ACECode software is installed, locate ACECode in the workspace and open it.
  • Page 11 E-mail:support@acebott.com https://acebott.com 2. Install the serial driver (skip it if installed) A serial port is a type of computer communication interface commonly used to transfer data between a computer and other devices (such as modems, sensors, printers, microcontrollers, etc.). USB serial ports are the most commonly used communication interfaces.
  • Page 12 E-mail:support@acebott.com https://acebott.com ②Click "Next" based on the prompt. ③After clicking "I Accept," click "Next" again. ④Click "Finish", the first driver installation is complete.
  • Page 13 E-mail:support@acebott.com https://acebott.com ⑤ Next, a pop-up window for the installation of the second driver will appear; click "Install." ⑥ After the installation is completed, a message indicating that the installation was successful will be displayed.
  • Page 14 E-mail:support@acebott.com https://acebott.com ⑦To confirm whether the installation was successful, plug one end of the USB cable into the ESP8266 controller board and the other end into a USB port on the computer. In ACECode, select ESP8266, and then check the serial port connection button. At this point, a new serial port will be added, representing the connected controller board.
  • Page 15 E-mail:support@acebott.com https://acebott.com ③Click "Install" and, as prompted, enter your fingerprint or password.
  • Page 16 E-mail:support@acebott.com https://acebott.com ④The CH340 driver has been successfully installed. Close the window. ⑤Next, install the CP210 serial port driver. After clicking "Continue," click the "Agree" button again.
  • Page 17 E-mail:support@acebott.com https://acebott.com...
  • Page 18 E-mail:support@acebott.com https://acebott.com ⑥ Click the "Install" button and, following the prompts, enter your fingerprint or password.
  • Page 19 E-mail:support@acebott.com https://acebott.com ⑦ After the installation is complete, you will be prompted that the installation was successful. Close the page. ⑧To confirm whether the installation was successful, plug one end of the USB cable into the ESP8266 controller board and the other end into a USB port on your computer.

  • Page 20: Ⅱ.hardware Knowledge

    E-mail:support@acebott.com https://acebott.com Then, check the serial port connection button in ACECode. If a new serial port appears, representing the connected control board, this indicates that the serial port drivers have been successfully installed. Ⅱ.Hardware Knowledge 1.Recognize ESP8266 ESP8266 is a low-power, high-performance WiFi module. It integrates WiFi function and TCP/IP protocol stack, and can communicate with the main controller through the serial port.
  • Page 21 E-mail:support@acebott.com https://acebott.com ① Connect the motherboard to the computer > Open ACECode > Select upload mode > Select ESP8266. ②Click the connection button, and in the pop-up serial port list, select the serial port where the ESP8266 is located. (Since each controller board has a different COM number, please choose according to the actual displayed COM number).

  • Page 22: Ⅲ.servo Drive

    E-mail:support@acebott.com https://acebott.com Ⅲ.Servo Drive 1.Know the servo extension board Servo expansion board is mainly used to connect eight servos, and under the control of ESP8266 controller board, drive the servo to complete different actions. The following points should be noted when using the servo expansion board: Connect the controller board: insert the pin of the ESP8266 controller board into the...
  • Page 23 E-mail:support@acebott.com https://acebott.com 2.Drive servo program （1）Pin description of servo extension board Expand plate pin number GPIO pin number for ESP8266 GPIO16 GPIO5 GPIO4 GPIO2 GPIO14 GPIO12 GPIO13 GPIO15 （2）Servo pin definition ①Usually the servo has three control lines: power line, ground line and signal line.
  • Page 24 E-mail:support@acebott.com https://acebott.com Servo Expansion board Figure Brown line － Red line ＋ Orange line D6(GPIO12) ④Servo wiring diagram. ⑤The columns with letters on the expansion board are signal pins, as shown in the following figure.
  • Page 25 E-mail:support@acebott.com https://acebott.com （3）Servo drive steps "1.2 Servo-Test.sb3" in ” English\ACECode\2.ACECode Program\Lesson 1” , ①Open connect ESP8266 controller board and computer with USB cable, Switch to Upload Mode.Select the correct controller board and port. Upload the code to the ESP8266 controller board.
  • Page 26 E-mail:support@acebott.com https://acebott.com ②If the steering gear is normal, it should rotate from 0 degrees to 180 degrees, then from 180 degrees to 0 degrees, and finally to 90 degrees. ③Take apart the 8 servos provided in the kit and test them respectively according to the same operation to ensure that each servos is normal and in good condition.
  • Page 27 E-mail:support@acebott.com https://acebott.com Open "1.3Zero_0.sb3" in ” English\ACECode\2.ACECode Program\Lesson 1 ” , connect ESP8266 development board and computer with USB cable, select the correct development board, processor and port, and upload the code to the ESP8266 development board.

  • Page 28: Lesson 2 Assembling The Robot

    E-mail:support@acebott.com https://acebott.com Lesson 2 Assembling the Robot Ⅰ.List of Parts Ⅱ.List of Structural Parts...

  • Page 29: Ⅲ.assembly Steps

    E-mail:support@acebott.com https://acebott.com Ⅲ.Assembly Steps Attention: If you need to watch the assembly video, please click the link below and select the corresponding construction video to watch. https://www.youtube.com/playlist?list=PLkW5fEtHNu6JIQVJpGal nKdkuk6Er4dIN Or scan the QR code below. 1.Remove the protective paper attached to the acrylic structure 2.Install servo expansion board on the Body...
  • Page 30 E-mail:support@acebott.com https://acebott.com 3.Install steering gear on the Body Parts List Name Quantity Servo M2*14MM Round Head Screw M2 Nut Attention: The direction of the servo axis should be closer to the outer edge of the long axis of the Body.
  • Page 31 E-mail:support@acebott.com https://acebott.com 4.Install esp8266 controller board Parts List Name Quantity esp8266 Controller Board Attention: The USB port on the esp8266 Controller Board is on the same side as the switch on the steering gear expansion board. 5.Install steering rocker arm to Coxa...
  • Page 32 E-mail:support@acebott.com https://acebott.com 6.Install Coxa and Femur together Parts List Name Quantity Femur Structure M3*10MMRound Head Screw M3 Nut Attention: Similarly, install the remaining three, the effect after installation is shown below, pay attention to the direction, be sure to be consistent with the picture (2 to the...
  • Page 33 E-mail:support@acebott.com https://acebott.com 7.Connect the four servos on the Body to the servos expansion board Insert the servo wire into the controller board as shown below (Attention the wiring sequence of the servo, the brown is GND, the red is VCC, and the orange is the signal wire in the servo wire, remember not to connect the reverse).
  • Page 34 E-mail:support@acebott.com https://acebott.com (3)Please make sure to strictly follow the wiring instructions when connecting the module to the expansion board. Incorrect wiring may cause a short circuit and damage the controller board. 8.Install four calves Parts List Name Quantity Tibia Structure...
  • Page 35 E-mail:support@acebott.com https://acebott.com (4)Before fixing the four servos on the steering wheel, the servo line should be passed through the line hole, in addition, the steering wheel is not fixed here, and do not turn the servo during installation, as shown in the following figure.
  • Page 36 E-mail:support@acebott.com https://acebott.com Attention: Do not screw this step first! After installation, you can see the following screenshot.
  • Page 37 E-mail:support@acebott.com https://acebott.com 10.The servo is wired at the shank Insert the servo wire into the controller board as shown below (Attention the wiring sequence of the servo, the brown is GND, the red is VCC, and theorange is the signal wire in the servo wire, remember not to connect the reverse).
  • Page 38 E-mail:support@acebott.com https://acebott.com 12.The effect after installation At this point, the four-legged bionic spider installation is complete! Attention: (1)Since the servo accessory kit comes in a standard packaging, the remaining parts such as the control disc are not required for use in...
  • Page 39 E-mail:support@acebott.com https://acebott.com (2)Please install one 18650 battery in the battery compartment of the spider robot, ensuring that the positive and negative poles are not reversed.

  • Page 40: Lesson 3 Position Initialization

    E-mail:support@acebott.com https://acebott.com Lesson 3 Position Initialization Ⅰ.Return to Zero Position 1.The zeroing position is shown in the figure Before assembly, we have uploaded the zeroing program of the servo. During assembly, we have installed the robot as shown in the figure. This is the initial posture of the robot, that is, the zeroing position.
  • Page 41 E-mail:support@acebott.com https://acebott.com Attention: Because the gear of the servo is clearance, not necessarily can be just installed to the most ideal state, there may be a slight deviation, this is a normal phenomenon. 2.Install steering wheel screws After the final adjustment, eight servos are fixed with eight M2.5*4 round head screws.

  • Page 42: Ⅱ.the Motion Of The Servo

    E-mail:support@acebott.com https://acebott.com GPIO14 Right upper paw GPIO12 Right upper arm GPIO13 Lower right arm GPIO15 Right lower paw GPIO16 Left upper paw GPIO5 Upper left arm GPIO4 Lower left arm GPIO2 Left lower paw Ⅱ.The Motion of the Servo In addition, the motion law of the servo at each position is shown in the following table:...

  • Page 43: Lesson 4 The Forward And Backward Movement Of Robots

    E-mail:support@acebott.com https://acebott.com Lesson 4 The Forward and Backward Movement of Robots The basic control actions of the robot include forward, backward, left, right and rotation. As long as you master the use of these basic actions, other actions can be combined according to the basic actions.

  • Page 44: Ⅰ.standby Mode Program

    E-mail:support@acebott.com https://acebott.com After adding the Four-legged Bionic Spider extension, you can use these two blocks to set the robot to complete a specified action or motion mode. You can also click the drop-down box in the command to select a different motion or mode.

  • Page 45: Ⅱ.move Forward Program

    E-mail:support@acebott.com https://acebott.com After uploading the program, we will find that the four arms of the robot are arranged in the shape of "X", and the four paws are also changed into the state of internal button to control the posture of the robot standing up. This is the standby state.

  • Page 46: Ⅲ.move Backward Program

    E-mail:support@acebott.com https://acebott.com After uploading the program, it can be found that the arm paws on the diagonal side of the robot do the same action, and the two diagonal arm paws move forward in an alternate running action. Ⅲ.Move Backward Program Open "4.3back.sb3"...

  • Page 47: Ⅳ.extending Tasks

    E-mail:support@acebott.com https://acebott.com After uploading the program, it can be found that the arm paws on the diagonal side of the robot do the same action, and the two diagonal arm paws move backward in an alternate running action. Ⅳ.Extending Tasks You've already seen how the robot moves forward and backward in the tutorial, so let's test your learning on an extended task.
  • Page 48 E-mail:support@acebott.com https://acebott.com...

  • Page 49: Lesson 5 Right And Left Rotation Of The Robot

    E-mail:support@acebott.com https://acebott.com Lesson 5 Right and Left Rotation of the Robot Now that you have learned the procedure for the robot to go forward and backward, in this lesson, you will continue to learn about the left and right rotation of the robot. The left and right rotation function is very important for the movement of the robot, and it allows the robot to go to any position on the plane.

  • Page 50: Ⅲ.extending Tasks

    E-mail:support@acebott.com https://acebott.com Mode. Select the correct controller board and port. Upload the code to the ESP8266 controller board. Before uploading, turn the toggle switch of the servo expansion board to OFF gear; After uploading, put the toggle switch of the servo extension board to the ON gear.
  • Page 51 E-mail:support@acebott.com https://acebott.com （2）Reference program: Open "5.3expand2.sb3" in "English\ACECode\2.ACECode Program\Lesson 5", connect ESP8266 controller board and computer with USB cable, select the correct controller board and port, and upload the code to the ESP8266 controller board. Before uploading, turn the toggle switch of the servo expansion board to OFF gear;...

  • Page 52: Lesson 6 Left And Right Movement Of The Robot

    E-mail:support@acebott.com https://acebott.com Lesson 6 Left and Right Movement of the Robot We've already seen how the robot can move backwards and forwards and rotate from side to side, but there are more interesting ways the robot can move, such as walking side-to-side.

  • Page 53: Ⅲ.extending Program

    E-mail:support@acebott.com https://acebott.com Before uploading, turn the toggle switch of the servo expansion board to OFF gear; After uploading, put the toggle switch of the servo extension board to the ON gear. Ⅲ.Extending Program Moving left and right is relatively easy, so wouldn't it be more fun if the robot could also say hello to the audience after moving? Open "6.3say_hello.sb3"...
  • Page 54 E-mail:support@acebott.com https://acebott.com...

  • Page 55: Lesson 7 Robot Dance Program

    E-mail:support@acebott.com https://acebott.com Lesson 7 Robot Dance Program We finally covered the basic movement, rotation and translation of the robot. I believe you already have some ideas that you can't wait to implement on the robot. This tutorial will teach you how to implement a few dance movements for the robot.

  • Page 56: Ⅲ.advanced Dance Steps

    E-mail:support@acebott.com https://acebott.com Before uploading, turn the toggle switch of the servo expansion board to OFF gear; After uploading, put the toggle switch of the servo extension board to the ON gear. How about intermediate steps? You can see the effect of the robot swinging from side to side continuously, the movement has been enriched, and then there are advanced dance steps.

  • Page 57: Ⅳ.extending Tasks

    E-mail:support@acebott.com https://acebott.com Advanced dance step can see the robot in a push-up position, the left lower arm and the right lower arm alternately fall and rise, show "hands and one leg" to support the body to rise and fall action, very cool.
  • Page 58 E-mail:support@acebott.com https://acebott.com Before uploading, turn the toggle switch of the servo expansion board to OFF gear; After uploading, put the toggle switch of the servo extension board to the ON gear. Note that the serial port monitor has no terminator and the baud rate is set to 115200.

  • Page 59: Lesson 8 Robot Wifi Control

    Lesson 8 Robot WiFi Control Ⅰ.APP Download （1）For an IOS device, search for ACEBOTT in the APP Store and download it. For Android phones, search the Google Play Store for ACEBOTT and download it. The icon is shown below.
  • Page 60 E-mail:support@acebott.com https://acebott.com After clicking, select "Control" to enter the control page. Note: You can click the build button on the right to view the assembly video of this project. （ 4 ） Enter the robot control interface (now can not be directly controlled, need to...

  • Page 61: Ⅱ.program Download

    E-mail:support@acebott.com https://acebott.com Ⅱ.Program Download 1. Robot WiFi control program At present, it is not possible to control the robot directly with the APP, and the control program of WiFi needs to be burned to the robot to control it. Open "8.1app_control.sb3" in "English\ACECode\2.ACECode Program\Lesson 8", connect ESP8266 controller board and computer with USB cable, Select the correct controller board and port and Upload the code to the ESP8266 controller board.
  • Page 62 E-mail:support@acebott.com https://acebott.com Attention: The name and password of the hotspot have been defined in the program, but the user can customize and modify it. When we have multiple quadruped robots, we can distinguish each quadruped robot by different WiFi names.
  • Page 63 E-mail:support@acebott.com https://acebott.com 3. Using APP controls After connecting the WiFi, click the connection icon in the upper right corner of the APP to complete the connection. Note: If you need to watch the APP operation video, please click the link below.
  • Page 64 E-mail:support@acebott.com https://acebott.com In the upper right corner of the APP operation interface, there is a gyroscope control provided. After clicking this button, you can control the movement of the robot through the smartphone's gyroscope. If the phone does not have a built-in gyroscope, this...
  • Page 65 Scan the QR codes to Follow Us for troubleshooting & the latest news. We have a very large community that is very helpful for troubleshooting and we also have a support team at the ready to answer any questions. ACEBOTT FB QR Code YouTube QR Code...

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