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ACEBOTT Biped Robot Tutorial

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Biped Robot Tutorial

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  • Page 1 E-mail:support@acebott.com https://acebott.com Biped Robot Tutorial...
  • Page 2 3. Explore the working principles of the servo module and understand the collaborative work of multiple servos in the Biped robot project. 4. Enhance your maker skills by building your own Biped robot using the ACEBOTT kit through step-by-step tutorials.

  • Page 3: Customer Service

    ESP32. Using this kit, users can gain a comprehensive understanding of the controller board and servos in a Biped robot. By following the tutorials provided in the kit, students of different age groups can acquire valuable knowledge about Biped robot and successfully build their own robot arm projects.

  • Page 4: Table Of Contents

    Ⅱ.Forward And Backward Movement Of The Biped Robot ........7 Ⅲ.Left And Right Rotation Of The Biped Robot ............11 Ⅳ.The Serial Port Control Robot Movement ............. 13 Lesson 3 The Following Function Of Biped Robot ......16 Ⅰ.Ultrasonic Sensor ......................16 Ⅱ.Robot Follow Function Program ................17 Lesson 4 Obstacle Avoidance Of Biped Robot ........19...

  • Page 5: Lesson 1 Introduction To Biped Robot

    This tutorial uses a biped robot composed of four servos, with two servos on the left and right sides, which constitute the thigh joint and the calf joint of the biped robot.

  • Page 6: Ⅰ.knowledge Of Hardware

    E-mail:support@acebott.com https://acebott.com Ⅰ.Knowledge Of Hardware 1.ESP32 controller board The ESP32 controller board is a low-power, high-performance microcontroller that is ideal for iot development. It has a 240MHz dual-core processor, 520KB of RAM and 4MB of flash memory. Built-in WiFi and Bluetooth 4.2 module for wireless communication.
  • Page 7 E-mail:support@acebott.com https://acebott.com (2) Do not allow the use of dry batteries, because it will cause battery explosion! Only two 8.4V lithium batteries can be used in series. (3) It is not recommended to touch some components of the chip power supply by hand to prevent burns.

  • Page 8: Ⅱ.the Bipedal Robot Movement Principle

    Ⅱ.The Bipedal Robot Movement Principle The movement of biped robot is mainly based on imitating the walking way of human, and different gaits of robot are realized through the alternating movement of two legs. The movement of each leg of the robot is controlled by the joint servo on the leg, and each servo is usually responsible for the movement of one joint.
  • Page 9 GPIO17 calf Right calf GPIO16 Left calf Right GPIO18 thigh 2.Motion rules of biped robot servo Servo pin Servo position Motion rule The larger the servo Angle, the more GPIO5 Left thigh inwards the thigh joint turns. The larger the servo Angle, the more...
  • Page 10 E-mail:support@acebott.com https://acebott.com...

  • Page 11: Lesson 2 Basic Motion Of Biped Robot

    Lesson 2 Basic Motion of Biped Robot Ⅰ.Biped Robot Expansion In order to control a biped robot, you need to add a biped robot extension to ACECode. Click "Add Extension" in the lower left corner of ACECode, click and select the "Biped Robot"...
  • Page 12 Attention: ①In the actual operation of the biped robot, due to the inability of the center of gravity to lift the legs and the friction with the ground, the walking action will be inconsistent with the figure, but when writing and understanding the program, it is necessary to write according to the action in the figure.
  • Page 13 E-mail:support@acebott.com https://acebott.com ②However, you can alternately hold down the sole of its foot to observe its movement. At the beginning, hold down its right foot with your hand, and then wait for it to complete the third action in the figure above, and then hold down its left foot with your hand, so that it can complete the forward movement according to the movement gait in the figure above.
  • Page 14 Attention: ①In the actual operation of the biped robot, due to the inability of the center of gravity to lift the legs and the friction with the ground, the walking action will be inconsistent with the figure, but when writing and understanding the program, it is necessary to write according to the action in the figure.

  • Page 15: Ⅲ.left And Right Rotation Of The Biped Robot

    "ON" position. Sample Code: After uploading the program, the theoretical gait of the biped robot corresponding to the program is shown in the figure below.
  • Page 16 Attention: ①During the actual operation of the biped robot, due to the inability of the center of gravity to lift the legs and the friction with the ground, the walking action will not be consistent with the figure, but when writing and understanding the program, it is necessary to write according to the action in the figure.

  • Page 17: Ⅳ.the Serial Port Control Robot Movement

    Attention: ①In the actual operation of the biped robot, due to the inability of the center of gravity to lift the legs and the friction with the ground, the walking action will be inconsistent with the figure, but when writing and understanding the program, it is necessary to write according to the action in the figure.
  • Page 18 "forward" in the serial input box, and click the "Send" button, the biped robot will perform a forward action. Similarly, you can enter the "backward", "left", and "right" commands in sequence to control the robot to perform...
  • Page 19 E-mail:support@acebott.com https://acebott.com...

  • Page 20: Lesson 3 The Following Function Of Biped Robot

    When the distance between the target and the biped robot is less than the set threshold, the robot will retreat; When the distance between the target and the biped robot is greater than the set threshold, the robot will advance;...

  • Page 21: Ⅱ.robot Follow Function Program

    E-mail:support@acebott.com https://acebott.com Ⅱ.Robot Follow Function Program Open "Move_Follow.sb3" in the “English\ACECode(Blockly Code)\4.Program\lesso n3”, connect ESP32 controller board and computer with USB cable, select the c orrect controller board and port, and upload the code to ESP32 controller board. The controller board should connect the power supply of the battery box and t urn the switch of the battery box to the "ON"...
  • Page 22 After uploading the program, you can use your hand as the following target of the biped robot, place your hand in front of the ultrasonic wave of the robot, and then approach and stay away from the robot to observe the following effect of the robot.

  • Page 23: Lesson 4 Obstacle Avoidance Of Biped Robot

    The obstacle avoidance function of the biped robot in this tutorial is to detect the distance of the object in front by using the transmission and reception of ultrasonic waves, so as to achieve the obstacle avoidance function.
  • Page 24 E-mail:support@acebott.com https://acebott.com...
  • Page 25 E-mail:support@acebott.com https://acebott.com After uploading the program, when the biped robot advances and encounters an obstacle in front of it, the robot will choose to retreat according to the distance with the obstacle, move left or right to avoid the obstacle, until there is no obstacle in front of it,...

  • Page 26: Lesson 5 Biped Robot Dance Moves 1

    "ON" position. Sample Code: After uploading the program, the biped robot will shake its left and right ankles and repeat it four times, although its action looks simple, it also needs to set the Angle of each servo, so that each servo can cooperate with each other to achieve a flexible effect.
  • Page 27 E-mail:support@acebott.com https://acebott.com...

  • Page 28: Lesson 6 Biped Robot Dance Moves 2

    "ON" position. Sample Code: After uploading the program, the biped robot will first move forward from left to right and repeat four times, then shake its left and right ankles four times each, and finally repeat the left and right moonwalk four times each to form a complete dance movement.

  • Page 29: Ⅱ.create Action

    E-mail:support@acebott.com https://acebott.com Ⅱ.Create Action 1.Create Action The biped robot supports creating custom actions. The steps to create an action are as follows:...
  • Page 30 E-mail:support@acebott.com https://acebott.com 1. Write a custom action under the command. The action name can be defined in the command input box; 2. Use instructions to design the angles and speeds of each joint of the robot; 3. Call the action function through instruction.
  • Page 31 E-mail:support@acebott.com https://acebott.com 2. Extension Task What other dance moves do you think the robot can add? Use the "Create Action" function to write the moves.

  • Page 32: Lesson 7 Web Control Of Biped Robot

    E-mail:support@acebott.com https://acebott.com Lesson 7 Web Control of Biped Robot With the continuous development of wireless communication technology and Internet of Things technology, remote control equipment technology has been widely used in many fields, which allows users to achieve remote and accurate control of terminal equipment.

  • Page 33: Ⅱ.login Page

    Attention: The name and password of the hotspot are already defined in the program, but the user can customize the modification, when we have multiple biped robots, we can distinguish each biped robot by different WiFi names. After the connection is successful, enter "192.168.4.1" in the address bar of the...
  • Page 34 E-mail:support@acebott.com https://acebott.com...

  • Page 35: Lesson 8 Biped Robot App Control

    In order to control the biped robot more conveniently, we choose to use the mobile APP as the client to realize the control of the biped robot through the mobile APP. Next, we will learn how to control the work of bipedal robots through mobile phone apps.
  • Page 36 E-mail:support@acebott.com https://acebott.com (3) Enter the selection interface and select the Bionic Biped Robot. 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.

  • Page 37: Ⅱ.app Controls Biped Robot

    Ⅱ.APP Controls Biped Robot 1.Upload the program to control the biped robot Before using the APP to control the biped robot, it is necessary to upload the program for the biped robot to communicate with the APP to the biped robot.
  • Page 38 Attention: The name and password of the hotspot are already defined in the program, but the user can customize the modification, when we have multiple biped robots, we can distinguish each biped robot by different WiFi names. 3.APP control After the WiFi is connected, click the connection icon in the upper right corner of the APP to complete the connection.
  • Page 39 After completing the above operations, return to the interface shown below, and then you can control the biped robot. The left side of the operation panel can control the robot's forward, backward, left, and right movements; the right side is the robot action group control, the main actions are: left kick, right kick, left stamp, right stamp, sprint, dance, follow, obstacle avoidance, etc.
  • Page 40 E-mail:support@acebott.com https://acebott.com...
  • Page 41 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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