Presented By-

About Us….

 The lack of robotics exposure urged to the conceptualization of ARK

Technosolutions, Mumbai in 2008.

 We are a national leader in Robotics Education and providing solutions in

Robotics and Embedded System Design.

 Our courses have been conducted in IIT’s, NIT’s and many India’s reputed
engineering colleges, thus amounting to training more than 50,000 students
across India.
 Our Vision….

 We envisage India as the hub in the field of Robots & embedded System
technology in the years to come.

 According to an IDC report the international market as a whole expects product

development worth $100 billion, which will require as many as 400,000 trained
professionals in embedded systems development by the year 2014
 Our Domains…..
 Currently ROBOKART is largely divided into four domains:

 ROBOKART Training Centre (for Engineering Students).

 ROBOKART RoboJunior (for School & Jr. College Students).

 ROBOKART Embedded Systems (PG Courses for Graduates and Professionals

 ROBOKART Industrial Solutions – Currently Research & Development.

 Our Clients
IIT – Kharagpur IIT – Delhi IIT - Kanpur
IIT – Bombay IIT – Hyderabad IIT – Roorkee
NIT - Kurukshetra IIT- Patna NIT - Durgapur
IIT- Gandhinagar IIT – Indore GCET - Anand
IT BHU – Varanasi MNNIT - Allahabad NIT - Rourkela
JNTU – Hyderabad DAVIET - Jalandhar ADIT – Gujrat
NMIT – Nitte BVPCOE – Pune BITS – Pillani
WCE – Sangli MES – Chiplun DY Patil - Pune
HIT – Kolkata HBTI – Kanpur NSEC - Kolkata
MITCOE – Pune DAIICT – Gandhinagar PIT - Baroda
MSU-IT – Baroda MMCOE – Pune SVP Polytechni-Mumbai
KJ SOMAIYA – Mumbai IGIT – DelhI MGIT - Hyderabad
YCCE – Nagpur PBVR COE – Hyderbad PICT - Pune
Ndmvcoe – Nashik RKNEC – Nagpur CBIT - Hyderabad
FAMT – Ratnagiri SIT – Lonavala 5
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OUR REACH..
 Bi-Pedal Robots

The beginning of humanoids.

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 What is a ROBOT ?

 A machine capable of carrying out a complex series of

actions automatically, especially one programmable by a
computer.

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 Electro-mechanical device

Performs Various tasks

ROBOT
May be human controlled or automate
d

It finds it’s uses in all aspects of our life.

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The word ‘Robot’ comes from
the Czech word ‘Robota’
which means ‘foRced labour’

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Drone Planes being used
by the Army to keep a
watch on key enemy
installations and enemy
movement using
thermal imaging and
image processing

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Bomb disposal robots make a dangerous
job a little less hazardous. They're
designed to search for, locate and
neutralize explosive devices.

They are equipped with manipulators,

tools and cameras, and controlled through
remote.

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The idea of Robots
Performing open-heart
Surgery sounds like
Science fiction but
recently this idea has
become a reality.
E.g.: Da-Vinci surgical
system

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 ROBOTS

SEMI-
MANUAL AUTONOMOUS
AUTONOMOUS

WIRED PRE-
WIRELESS SELF LEARNING
PROGRAMMED

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 What is a bi-pedal robot?
A humanoid robot is a robot with its body shape built to
resemble that of the human body.
Bipedalism is a form of terrestrial locomotion where an
organism moves by means of its two rear limbs or legs.
A Bi-Pedal robot is a robot with walking abilities with the use
of motors.

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 Road to Asimo.
Honda began developing
humanoid robots in the
1980s. It was the company's
goal to create a walking
robot which could not only
adapt and interact in human
situations, but also improve
the quality of life.

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The E0 was the first bipedal (two-
legged) model produced as part
of the Honda E series, which was
an early experimental line of
humanoid robots created
between 1986 and 1993.
 Asimo Today.
Asimo today has the ability to
operate at speeds upto 9km/hr,
and carry loads around.
With an operating time of upto
1 hour, it has a an overall
efficient performance.
at over 4 feet tall and 50 kg in
weight, it is very close to see a
humanoid.
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 Various Components.
Chassis.

Actuator.

Microcontroller.

Sensor

Power source.

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 Microcontrollers
Embedded Systems
Operations managed behind the scenes by a microcontroller
Microcontroller (MCU)
Integrated electronic computing device that includes three
major components on a single chip
Microprocessor (MPU)
Memory
I/O (Input/output) ports

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 Microcontrollers
Support Devices
Timers
A/D converter
Serial I/O
Common communication lines
System Bus

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Block Diagram of MCU
 MPU contains only a CPU. In
c o n t r a s t M C U c o n t a i n s fe w
other components apart from
CPU, which includes RAM, ROM
and other peripherals l i ke
p o r t s , c l o c k , t i m e r, U A R T A D C
D A C , D r i v e r s f o r L C D, e t c

 MPU can be considered as just

t h e p r o c e s s o r, w h i l e M C U c a n
be seen as a small computer
which is embedded on a single
29I C
Comparison

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 Microprocessor
• CPU is stand-alone.
• RAM, ROM, I/O, timer are
external.
• Size of ROM, RAM and I/O
ports can be optimized.
• For applications in which
the accuracy and time are
critical.
• General-purpose system.
Microcontroller
• CPU, RAM, ROM, I/O and
timer are all on a single
chip.
• Fixed size of on-chip ROM,
RAM, I/O ports.
• For applications in which
cost, power and space are
critical.
• Task specific systems.
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 Actuators
 An actuator is a type of motor that is
responsible for moving or controlling a
mechanism or system.

 It is operated by a source of energy, typically

electric current, hydraulic fluid pressure, or
pneumatic pressure, and converts that energy
into motion.
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They convert the electrical energy into meaningful mechanical
work

Mechanical output can be rotational or linear (straight line)

Generally motors provide rotational motion

Electromagnets provide linear motion

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 AC Motors • Not used much in robotics

DC Motors • Finds extensive general use

Stepper Motors • For controlled rotation

• DC motor with in built feedback & error

Servo Motors
compensation

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 Can run in both directions

 Speed Controllable

 As the name suggests, a

motor which uses a DC
(Direct Current) power

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 Stepper Motors

Used for measured Can be held at a

rotation. particular position
of the shaft.

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Servos are DC motors with built in gearing and feedback
control loop circuitry. And no motor drivers required!

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Working
 The final shaft imposes a force on the
external load and simultaneously acts on
the axis of the feedback potentiometer.
So, the potentiometer senses the position
of the axis and sends a corresponding
voltage to an op-amp.
 This voltage compared to the input
voltage, that determines the desired
position of the shaft, producing a voltage
in the output of the comparator. This
voltage powers the motor such that the
shaft moves in the necessary direction to
align with the angle that corresponds to
the voltage applied to the input.
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 The Standard Servo.

 Standard servo motors have three wires, which are for power ( 4 – 6 V),
ground and control.

 The size and shape of the servo motors are dependent on the
application.

 RC servo motor are the common type of servo motors used in robotics
and hobby applications due to their affordability, reliability, and
simplicity of control by microprocessors

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 Control of Servo motors: PWM.
 Pulse Width Modulation, or PWM, is a technique for getting
analog results with digital means. Digital control is used to
create a square wave, a signal switched between on and off.

 In this project, we need to use 4 PWM output pins to control

the 4 servo motors.

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 90 Degree Lock

 In order to get the required movement, we need the

servo to be locked at a specific reference angle.

 Based on our program, we have used 90 degree as

our reference angle.

 Hence during ever attempt of assembly, we need the

servos to be at 90 degree lock before assembly.

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 Servo vs. Stepper motor
Servo Motors provide:
 Higher rotational torque
 Higher max RPM
 Positive Feedback Control

Stepper Motors provide:

 Higher holding torque
 More precise movement

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 Motor Driver
 A motor driver is a device or group of devices that serves to control
the performance of an electric motor.

 A motor controller might include a manual or automatic means for

starting and stopping the motor, selecting forward or reverse
rotation, selecting and regulating the speed, regulating or limiting
the torque, and protecting against overloads and faults.

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 Sensors

Sensors that a robot uses generally fall into three different

categories:
 Environment sensors tell the robot what is happening around it like
Thermal Sensors, Pressure Sensors, Ranging Sensors, Touch Sensors
 Feedback sensors tell the robot what it is actually doing like
Tachometers, and
 Communication sensors allow a human or computer to provide a
robot other information, example IR and RF.

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 Power Supply System

Suitable power source is needed to run the robots.

Robots are most suitably powered by batteries.

The weight and energy capacity of the batteries may become the
determinative factor of its performance.

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 Types of Batteries
 Primary : Non Rechargeable Batteries. Alkaline battery Galvanic cell
Lithium battery, Zinc–carbon battery Zinc chloride battery
 Secondary : Rechargeable batteries Zinc–cerium battery Lead–acid
battery Lithium-ion Battery Nickel–cadmium battery Nickel hydrogen
battery Nickel–zinc battery, Polymer-based battery.
 Application: Backup battery pack Battery room Biobattery Button cell
Car battery Electric vehicle battery Inverter battery Nanobatteries.

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 Battery Snapper

 To power 4 servo, we require a larger capacity power

supply, hence we are connecting 3 9v batteries in parallel.

 To the power supply pins of the servo motors.

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Biped Assembly
Servo Motor
Parameter Specifications

Operating Voltage 4.8-6.0 Volts

Operating Speed 0.23sec/60 degrees at
(4.8V) no load
Operating Speed 0.19sec/60 degrees at
(6.0V) no load
Bearing Type: Plastic Bearing
Gear Type: All Nylon Gears
Connector Wire 12"
Length:
Orange=Signal

Red=VCC

Brown=GND
Motor’s Labels
Connections
 2 3 4
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Upload the programs to see various
functions of the bipedal robot.

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-Yadnesh Mohan Zagade
(Research & Development Engineer)
Keep Revising….