INTELLIGENT AUTONOMOUS SIX-LEGGED ROBOT TO

OPERATE ON UNEVEN SURFACES

Spider robot
Index

Title Page

College Certificate

Wine Yard Certificate

Acknowledgement

Declaration

Abstract

Block Diagram

Introduction to project

Introduction to Embedded Systems

Communication or technology what we are using in the project

Explanation of Each Block

Working Procedure

Working with Keil Compiler

Advantages

Applications

Conclusion

Reference
 A PROJECT REPORT ON

INTELLIGENT AUTONOMOUS SIX LEGGED ROBOT TO OPERATE ON

UNEVEN SURFACES

Submitted in partial fulfillment of the requirements

For the award of the degree

BACHELOR OF TECHNOLOGY

IN

____________________________________ ENGINEERING

SUBMITTED BY

-------------------- (-------------)

--------------------- (-------------)

--------------------- (------------)

DEPARTMENT OF _______________________ ENGINEERING

__________COLLEGE OF ENGINEERING

AFFILIATED TO ___________ UNIVERSITY

 CERTIFICATE

This is to certify that the dissertation work entitled INTELLIGENT AUTONOMOUS SIX
LEGGED ROBOT TO OPERATE ON UNEVEN SURFACES is the work done by
____________________________ submitted in partial fulfillment for the award of
‘BACHELOR OF ENGINEERING (B.E)’ in Electronics and Communication Engineering from
_______ College of Engineering affiliated to _________ University, Hyderabad.

________________ ____________

(External Guide) (Internal Guide)

______________

(External Examiner)
 ACKNOWLEDGEMENT

The satisfaction and euphoria that accompany the successful completion of any task would be
incomplete without the mentioning of the people whose constant guidance and encouragement
made it possible. We take pleasure in presenting before you, our project, which is result of
studied blend of both research and knowledge.

We express our earnest gratitude to our internal guide, Assistant Professor ______________,
Department of ECE, our project guide, for his constant support, encouragement and guidance.
We are grateful for his cooperation and his valuable suggestions.

We express our thanks to the Head of the Department, Principal and College management for
all their support and encouragement.

We express our earnest gratitude and heartfelt thanks to M/S Wine Yard Technologies for their
technical support and guidance to complete the project in time.

Finally, we express our gratitude to all other members who are involved either directly or
indirectly for the completion of this project.

For: Project Associates

 DECLARATION

We, the undersigned, declare that the project entitled INTELLIGENT AUTONOMOUS SIX
LEGGED ROBOT TO OPERATE ON UNEVEN SURFACES, being submitted in partial
fulfillment for the award of Bachelor of Engineering Degree in Electronics and Communication
Engineering, affiliated to _________ University, is the work carried out by us.

__________ _________ _________

__________ _________ _________

TECHNICAL SPECIFICATIONS
Technical Specifications

Title of the project : Intelligent autonomous six legged robot to operate

on uneven surfaces

Domain : Robotics, Wireless Communication

Software : Embedded C, Keil, Proload

Microcontroller : AT89S52

Power Supply : +9V, 500mA Regulated Power Supply

Crystal : 11.0592MHz

Communication Device : RF Module

Transmitter : STT – 433MHz

Receiver : STR – 433MHz

Applications : Military, Auto motives

Abstract:
 This is an intelligent robot that can easily move on uneven surfaces too with the help of
his six legs, and he can take its own decision in case of any obstacle. This robot is quite
intelligent.

Legged robots are well suited to walk on difficult terrains at the expense of requiring
complex control systems to walk even on flat surfaces. But simply walking on a flat surface is
not worth using a legged robot. It should be assumed that walking on abrupt terrain is the typical
situation for a legged robot. With this premise in mind, we have developed a robust controller for
a six-legged robot that allows it to walk over difficult terrains in an autonomous way; with a
limited use of sensory information (no vision is involved). This walk controller can be driven by
an upper level which need not be concerned about the details of foot placement or leg
movements, taking care only of high level aspects such as global speed and direction.

This robot is powered by 9V rechargeable battery. The direction of the

robot can be controlled by an RF remote. This can be moved forward and reverse direction using
geared motors of 60RPM. Also this robot can take sharp turnings towards left and right
directions. This project uses AT328MCU as its controller.

The RF modules used here are STT-433 MHz Transmitter, STR-433 MHz Receiver,
HT12E RF Encoder and HT12D RF Decoder. The three switches are interfaced to the RF
transmitter through RF Encoder. The encoder continuously reads the status of the switches,
passes the data to the RF transmitter and the transmitter transmits the data.

This project uses 9V battery. This project is much useful for mines detection and
surveillance applications and also in fire factories and industries.
BLOCK DIAGRAM
BLOCK DIAGRAM: Transmitter

SW1

SW2 RF Encoder
HT12E RF
Transmitter

STT - 433
SW3

SW4
 Receiver:
Motor

RF H-
RF Receiver Bridge
Decoder
Motor

AT328
MCU
11.0592MHz

Crystal
Oscillator

Power – On
Reset

Lead Bridge Filter

Regulator
Acid Rectifier Circuit
Power supply to all sections
Batter
y
INTRODUCTION TO PROJECT
ROBOT

INTRODUCTION:

A Robot is a mechatronics device which also includes resourcefulness or autonomy. A

device with autonomy does its thing "on its own" without a human directly guiding it moment-
by-moment. Some authors would contend that all mechatronic devices are robots, and that this
book's restriction on robot entails only specialized software.

Robotics can be described as the current pinnacle of technical development. Robotics is a

confluence science using the continuing advancements of mechanical engineering, material
science, sensor fabrication, manufacturing techniques, and advanced algorithms. The study and
practice of robotics will expose a dabbler or professional to hundreds of different avenues of
study. For some, the romanticism of robotics brings forth an almost magical curiosity of the
world leading to creation of amazing machines. A journey of a lifetime awaits in robotics.

Robotics can be defined as the science or study of the technology primarily associated with
the design, fabrication, theory, and application of robots. While other fields contribute the
mathematics, the techniques, and the components, robotics creates the magical end product. The
practical applications of robots drive development of robotics and drive advancements in other
sciences in turn. Crafters and researchers in robotics study more than just robotics.

Legged robots are well suited to walk on difficult terrains at the expense of requiring
complex control systems to walk even on flat surfaces. But simply walking on a flat surface is
not worth using a legged robot. It should be assumed that walking on abrupt terrain is the typical
situation for a legged robot. With this premise in mind, we have developed a robust controller for
a six-legged robot that allows it to walk over difficult terrains in an autonomous way; with a
limited use of sensory information (no vision is involved). This walk controller can be driven by
an upper level which need not be concerned about the details of foot placement or leg
movements, taking care only of high level aspects such as global speed and direction.

Robot Control using RF is an exclusive project where the direction of the

movement of Robot can be changed using wireless technologies. The Robot will be placed
different from that of from where it is controlled. This project can also be carried out using
wiring processes. But the main disadvantage when we go for wiring is that, data transmission
and reception may not be perfect and the data may be lost if the wiring is not done properly.
Thus, the Robot movement is controlled using wireless concept in this project.
INTRODUCTION TO EMBEDDED SYSTEMS
EMBEDDED SYSTEMS

Introduction:

An embedded system is a system which is going to do a predefined specified task is the

embedded system and is even defined as combination of both software and hardware. A general-
purpose definition of embedded systems is that they are devices used to control, monitor or assist
the operation of equipment, machinery or plant. "Embedded" reflects the fact that they are an
integral part of the system. At the other extreme a general-purpose computer may be used to
control the operation of a large complex processing plant, and its presence will be obvious.

All embedded systems are including computers or microprocessors. Some of these

computers are however very simple systems as compared with a personal computer.
The very simplest embedded systems are capable of performing only a single function or
set of functions to meet a single predetermined purpose. In more complex systems an application
program that enables the embedded system to be used for a particular purpose in a specific
application determines the functioning of the embedded system. The ability to have programs
means that the same embedded system can be used for a variety of different purposes. In some
cases a microprocessor may be designed in such a way that application software for a particular
purpose can be added to the basic software in a second process, after which it is not possible to
make further changes. The applications software on such processors is sometimes referred to as
firmware.
The simplest devices consist of a single microprocessor (often called a "chip”), which
may itself be packaged with other chips in a hybrid system or Application Specific Integrated
Circuit (ASIC). Its input comes from a detector or sensor and its output goes to a switch or
activator which (for example) may start or stop the operation of a machine or, by operating a
valve, may control the flow of fuel to an engine.

As the embedded system is the combination of both software and hardware

RF TECHNOLOGY
 RF TECHNOLOGY

INTRODUCTION:

Radio frequency (RF) is a frequency or rate of oscillation within the range of about 3 Hz
to 300 GHz. This range corresponds to frequency of alternating current electrical signals used to
produce and detect radio waves. Since most of this range is beyond the vibration rate that most
mechanical systems can respond to, RF usually refers to oscillations in electrical circuits or
electromagnetic radiation

PROPERTIES OF RF:

Electrical currents that oscillate at RF have special properties not shared by direct current
signals. One such property is the ease with which it can ionize air to create a conductive path
through air. This property is exploited by 'high frequency' units used in electric arc welding.
Another special property is an electromagnetic force that drives the RF current to the surface of
conductors, known as the skin effect. Another property is the ability to appear to flow through
paths that contain insulating material, like the dielectric insulator of a capacitor. The degree of
effect of these properties depends on the frequency of the signals.

BRIEF DESCRIPTION OF RF:

Radio frequency (abbreviated RF) is a term that refers to alternating current (AC) having
characteristics such that, if the current is input to an antenna, an electromagnetic (EM) field is
generated suitable for wireless broadcasting and/or communications. These frequencies cover a
significant portion of the electromagnetic radiation spectrum, extending from nine kilohertz (9
kHz),the lowest allocated wireless communications frequency (it's within the range of human
hearing), to thousands of gigahertz(GHz).

When an RF current is supplied to an antenna, it gives rise to an electromagnetic field

that propagates through space. This field is sometimes called an RF field; in less technical jargon
it is a "radio wave." Any RF field has a wavelength that is inversely proportional to the
frequency. In the atmosphere or in outer space, if f is the frequency in megahertz and sis the
wavelength in meters, then
 s = 300/f

The frequency of an RF signal is inversely proportional to the wavelength of the EM

field to which it corresponds. At 9 kHz, the free-space wavelength is approximately 33
kilometers (km) or 21 miles (mi). At the highest radio frequencies, the EM wavelengths measure
approximately one millimeter (1 mm). As the frequency is increased beyond that of the RF
spectrum, EM energy takes the form of infrared (IR), visible, ultraviolet (UV), X rays, and
gamma rays.

Many types of wireless devices make use of RF fields. Cordless and cellular telephone,
radio and television broadcast stations, satellite communications systems, and two-way radio
services all operate in the RF spectrum. Some wireless devices operate at IR or visible-light
frequencies, whose electromagnetic wavelengths are shorter than those of RF fields. Examples
include most television-set remote-control boxes some cordless computer keyboards and mice,
and a few wireless hi-fi stereo headsets.

The RF spectrum is divided into several ranges, or bands. With the exception of the lowest-
frequency segment, each band represents an increase of frequency corresponding to an order of
magnitude (power of 10). The table depicts the eight bands in the RF spectrum, showing
frequency and bandwidth ranges. The SHF and EHF bands are often referred to as the
microwave spectrum.

RF Advantages:
1. No line of sight is needed.
2. Not blocked by common materials: It can penetrate most solids and pass through
walls.

3. Longer range.

4. It is not sensitive to the light;.

5. It is not much sensitive to the environmental changes and weather conditions.

RF Disadvantages:
1. Interference: communication devices using similar frequencies - wireless phones,
scanners, wrist radios and personal locators can interfere with transmission
2. Lack of security: easier to "eavesdrop" on transmissions since signals are spread out in
space rather than confined to a wire

3. Higher cost than infrared

4. Federal Communications Commission(FCC) licenses required for some products

5. Lower speed: data rate transmission is lower than wired and infrared transmission

5.2 RF TRANSMITTER

RF TRANSMITTER STT-433MHz:

STT-433 MHz TRANSMITTER

AT328MICROCONTROLLER
MICROCONTROLLERS:

Microprocessors and microcontrollers are widely used in embedded systems

products. Microcontroller is a programmable device. A microcontroller has a CPU in addition to
a fixed amount of RAM, ROM, I/O ports and a timer embedded all on a single chip. The fixed
amount of on-chip ROM, RAM and number of I/O ports in microcontrollers makes them ideal
for many applications in which cost and space are critical.

The Intel 8052 is Harvard architecture, single chip microcontroller (µC) which was
developed by Intel in 1980 for use in embedded systems. It was popular in the 1980s and early
1990s, but today it has largely been superseded by a vast range of enhanced devices with 8052-
compatible processor cores that are manufactured by more than 20 independent manufacturers
including Atmel, Infineon Technologies and Maxim Integrated Products.

8052 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data at a
time. Data larger than 8 bits has to be broken into 8-bit pieces to be processed by the CPU. 8052
is available in different memory types such as UV-EPROM, Flash and NV-RAM.

The present project is implemented on Keil uVision. In order to program the device,
proload tool has been used to burn the program onto the microcontroller.

The features, pin description of the microcontroller and the software tools used are
discussed in the following sections.
FEATURES

• Compatible with MCS-51® Products

• 8K Bytes of In-System Programmable (ISP) Flash Memory

– Endurance: 1000 Write/Erase Cycles

• 4.0V to 5.5V Operating Range

• Fully Static Operation: 0 Hz to 33 MHz

• Three-level Program Memory Lock

• 256 x 8-bit Internal RAM

• 32 Programmable I/O Lines

• Three 16-bit Timer/Counters

• Eight Interrupt Sources

• Full Duplex UART Serial Channel

• Low-power Idle and Power-down Modes

• Interrupt Recovery from Power-down Mode

• Watchdog Timer

• Dual Data Pointer

• Power-off Flag
DC MOTOR
DC motor
A DC motor is an electric motor that runs on direct current (DC) electricity.
DC Motor Connections
Figure shows schematically the different methods of connecting the field and armature circuits in
a DC Motor. The circular symbol represents the armature circuit, and the squares at the side
of the circle represent the brush commutator system. The direction of the arrows indicates the
direction of the magnetic fields.

Brushed
The brushed DC motor generates torque directly from DC power supplied to the motor by using
internal commutation, stationary permanent magnets, and rotating electrical magnets.It works on
the principle of Lorentz force , which states that any current carrying conductor placed within an
external magnetic field experiences a torque or force known as Lorentz force. Advantages of a
brushed DC motor include low initial cost, high reliability, and simple control of motor speed.
Disadvantages are high maintenance and low life-span for high intensity uses. Maintenance
involves regularly replacing the brushes and springs which carry the electric current, as well as
cleaning or replacing the commutator. These components are necessary for transferring electrical
power from outside the motor to the spinning wire windings of the rotor inside the motor.
 Brushed DC motor

Brushless
Brushless DC motors use a rotating permanent magnet in the rotor, and stationary electrical
magnets on the motor housing. A motor controller converts DC to AC. This design is simpler
than that of brushed motors because it eliminates the complication of transferring power from
outside the motor to the spinning rotor. Advantages of brushless motors include long life span,
little or no maintenance, and high efficiency. Disadvantages include high initial cost, and more
complicated motor speed controllers.

Torque and speed of a DC motor

The torque of an electric motor is independent of speed. It is rather a function of flux and
armature current.
Characteristics of DC motors
DC motors respond to load changes in different ways, depending on the arrangement of the
windings.
SOFTWARE TOOLS
KEIL SOFTWARE:

Keil compiler is a software used where the machine language code is written and
compiled. After compilation, the machine source code is converted into hex code which is to be
dumped into the microcontroller for further processing. Keil compiler also supports C language
code.

STEPS TO WRITE AN ASSEMBLY LANGUAGE PROGRAM IN KEIL AND HOW TO

COMPILE IT:

1. Install the Keil Software in the PC in any of the drives.

2. After installation, an icon will be created with the name “Keil uVision3”. Just drag this
icon onto the desktop so that it becomes easy whenever you try to write programs in keil.
3. Double click on this icon to start the keil compiler.
4. A page opens with different options in it showing the project workspace at the leftmost
corner side, output window in the bottom and an ash coloured space for the program to be
written.
5. Now to start using the keil, click on the option “project”.
6. A small window opens showing the options like new project, import project, open project
etc. Click on “New project”.
7. A small window with the title bar “Create new project” opens. The window asks the user
to give the project name with which it should be created and the destination location. The
project can be created in any of the drives available. You can create a new folder and then
a new file or can create directly a new file.
8. After the file is saved in the given destination location, a window opens where a list of
vendors will be displayed and you have to select the device for the target you have
created.
9. The most widely used vendor is Atmel. So click on Atmel and now the family of
microcontrollers manufactured by Atmel opens. You can select any one of the
microcontrollers according to the requirement.
PROLOAD:

Proload is a software which accepts only hex files. Once the machine code is converted
into hex code, that hex code has to be dumped into the microcontroller placed in the programmer
kit and this is done by the Proload. Programmer kit contains a microcontroller on it other than the
one which is to be programmed. This microcontroller has a program in it written in such a way
that it accepts the hex file from the keil compiler and dumps this hex file into the microcontroller
which is to be programmed. As this programmer kit requires power supply to be operated, this
power supply is given from the power supply circuit designed above. It should be noted that this
programmer kit contains a power supply section in the board itself but in order to switch on that
power supply, a source is required. Thus this is accomplished from the power supply board with
an output of 12volts or from an adapter connected to 230 V AC.

1. Install the Proload Software in the PC.

2. Now connect the Programmer kit to the PC (CPU) through serial cable.

3. Power up the programmer kit from the ac supply through adapter.

4. Now place the microcontroller in the GIF socket provided in the programmer kit.

5. Click on the Proload icon in the PC. A window appears providing the information like
Hardware model, com port, device type, Flash size etc. Click on browse option to select
the hex file to be dumped into the microcontroller and then click on “Auto program” to
program the microcontroller with that particular hex file.

6. The status of the microcontroller can be seen in the small status window in the bottom of
the page.After this process is completed, remove the microcontroller from the
programmer kit and place it in your system board. Now the system board behaves
according to the program written in the microcontroller.
ADVANTAGES

&

APPLICATIONS
Advantages:
1. Not line of sight
2. Not blocked by common materials: can penetrate most solids and pass through walls

3. Longer range

4. Not light sensitive

5. Not as sensitive to weather/environmental conditions

Applications:

 Forest Applications
 Agriculture

 Mining.

 Industries are using RF solutions for monitoring, control, process, inventory tracking,
data links and bar code reading devices.

 Commercial wireless applications such as door announcers, security and access systems,
gate control, remote activation, score board and paging systems.

 Automotive companies employing RF for wireless remote control, remote keyless entry
and safety applications

 Consumer products including electronic toys, home security, gate and garage door
openers, Intercom, fire and safety systems, and irrigation controllers.
CONCLUSION
Conclusion:

This project presents a six legged robot using RF communication and it is designed and
implemented with Atmel 89S52 MCU in embedded system domain. Experimental work has been
carried out carefully. The result shows that higher efficiency is indeed achieved using the
embedded system. The proposed method is verified to be highly beneficial for the security
purpose and industrial purpose.
REFERENCE
REFERENCES:

1. WWW. howstuffworks.com

2. EMBEDDED SYSTEM BY RAJ KAMAL

3. 8051 MICROCONTROLLER AND EMBEDDED SYSTEMS BY MAZZIDI

4. Magazines

5. Electronics for you

6. Electrikindia

7. WWW.google.com

8. WWW.Electronic projects.com