WEST YANGON TECHNOLOGICAL UNIVERSITY

DEPARTMENT OF INFORMATION TECHONOLOGY

ENGENNERING

ARDIUNO BASED SOFTWARE CONTROL

HUMANOID ROBOT

BY

SECOND YEAR (GROUP-I)

II.IT (PROJECT REPORT)

OCTOBER ,2024

YANGON
 WEST YANGON TECHNOLOGICAL UNIVERSITY
DEPARTMENT OF INFORMATION TECHONOLOGY
ENGENERRING

ARDIUNO BASED SOFTWARE CONTROL

HUMANOID ROBORT

BY
SECOND YEAR (GROUP -I)

BACHELOR OF ENGINEERING PROJECT SUBMITTED BY

THE DEPARTMENT OF INFORMATION TECHNOLOGY

OCTOBER,2024
YANGON
 WEST YANGON TECHONOLOGICAL UNIVERSITY
DEPARTMENT OF INFORMATION TECHNOLOGY ENGNEERING

We certify that we have examined, and recommended to the University

Streaming Committee for the Under Graduate for acceptance the project entitled
“Arduino Based Software Control Humanoid Robot” submitted by II-IT (Group-I)
(Nov,2023) to the Department of Information Technology to acquire the graduation
for second year.

Board of Examiners:
1. Dr. Cho Cho Myint
Professor and Head
Department of information Technology Engineering -------------
West Yangon Technology University (Chairman)

2. Daw La Wun Nandar Kyaw

Associate Professor
Department of information Technology Engineering -------------
West Yangon Technology University (Supervisor)

3. Daw Hsu Wai Hnin

Associate Professor
Department of information Technology Engineering -------------
West Yangon Technology University (Member)

4. Daw Kyi Kyi Win

Associate Professor
Department of information Technology Engineering -------------
West Yangon Technology University (Member)
5. Daw Win Pa Pa
Associate Professor
Department of information Technology Engineering -------------
West Yangon Technology University (Member)
 i

ACKNOWLEDGEMENTS

First of all, the authors would like to express special thanks to Dr. Kyi Soe, the
Rector of West Yangon Technological University, being appreciate from his
motivation to go through with the project and for the successful completion of it.
Moreover, the authors would also like to express their deepest gratitude to the
Chairman, Dr. Cho Cho Myint, Professor and Head, Department of Information
Technology Engineering, West Yangon Technological University, for her permission
and guidance.
The authors also thanks to their supervisor, Daw La Wun Nandar Kyaw,
Associate Professor, Department of Information Technology Engineering, West
Yangon Technological University, for her encouragement, helpful suggestion and
editing.
The authors would also like to express their thanks not only to all teachers
through academic life but also to each and every individual who assist for the
completion of this project report. Finally, the authors wish to thank their parents for
their inspiring determination, financial supports and encouragement to collect their
attention without difficulty.
 ii

ABSTRACT

This project focuses on developing a humanoid robot controlled via Bluetooth

using an Arduino uno r3. The humanoid robot is designed to perform basic
movements such as walking, turning, and interacting with its environment. Bluetooth
communication enables remote control of the robot's actions, offering flexibility and
convenience for the user. The Arduino uno r3 serves as the central processing unit,
interpreting commands received wirelessly and translating them into movements
executed by the robot's actuators. The project integrates hardware components such as
servo motors, sensors, and a Bluetooth module with software algorithms to achieve
precise and responsive control over the robot's movements. By combining robotics,
electronics, and wireless communication technologies, this project aims to create an
interactive and engaging platform for exploring robotics concepts and enhancing user
experience.
 iii

LIST OF PARTICIPANTS OF GROUP (I)

No. Name Roll-No.

1 Mg Zin Myoe Naing II.IT-24

2 Ma Mya Kyaw Zin Thant II.IT-8

3 Mg Hein Zayar Naing II.IT-13

4 Mg Ye Min Thant II.IT-17

5 Ma Thinzar Htet II.IT-18

6 Mg Zayyar Kyaw Linn II.IT-19

7 Ma Htoo Oo Hlyan II.IT-20

8 Mg Naung Shin Khant II.IT-26

 vi

REFERENCES

[1] CE store, Shop in Myanmar

(https://www.cestoremm.com/?
gclid=CjwKCAjwyfe4BhAWEiwAkIL8sBJYhUYyUBLE9T_lwezd7P5FICphJN
bNPYtUWTqRn7RFIlTli2mP4BoCq7IQAvD_BwE)
[2] YouTube, Robomax, How to make arduino humanoid robot |Robot Yasash
(https://youtu.be/CgK4kgwz2ME?si=1HAZPi70UcYk3MMm )
[3] Autodesk instructables, Arduino and the OLED display .
(https://www.instructables.com/Arduino-and-the-SSD1306-OLED-I2C-128x64-
Display/)
[4] ChatGpt, an AI language model created by OpenAI ( https://chatgpt.com/).
[5] Google(https://google.com/)
[6] Google(https://en.m.wikipedia.org/wiki/Bluetooth)
 v

TABLE OF CONTENTS(Title)
Pages
ACKNOWLEDGEMENTS i
ABSTRACT ii
LIST OF PARTICIPANTS OF GROUP (I) iii
REFERENCES iv
TABLE OF CONTENTS v
LIST OF FIGURE vii
CHAPTER TITLE

1. INTRODUCTION

1.1 Introduction to Humanoid Robot 1

1.2 Robot Body 3

1.3 What’s Arduino? 4

1.4 Advantages of Humanoid Robot 5

1.5 Disadvantages of Humanoid Robot 5

1.6 Aim and Objective 6

2. BACKGROUND THEORY

2.1 Bluetooth Communication 7

2.2 Humanoid Robot Anatomy 7

2.3 Arduino Microcontroller 7

2.4 Servo Motor Control 7

2.5 MIT App Control` 7

2.6 Bluetooth Serial Communication 8

2.7 Control Algorithms 8

2.8 Safety Considerations 8

2.9 System Block Diagram 8

 vi

3. DESIGN AND COMPONENT LIST

3.1 Servo Motor 9

3.2 Jumper Cable 9

3.3 Arduino Mega 2560 10

3.4 Bluetooth Module HC05 12

3.5 Ultrasonic Sensor 13

3.6 OLED Display Module 13

3.7 Arduino IDE 14

3.8 MIT App Inventor 15

4 TESTING AND RESULT

4.1 Overview of Testing 16

4.2 Hardware Performance Tests 17

4.2.1 Motor and Servo Functionality 17

4.2.2 Sensor Accuracy and Responsiveness 18

4.2.3 Structural Stability and Endurance 19

4.3 Results and Observations 22

4.3.1 Response Time 22

4.3.2 Movement Precision 23

4.3.3 Battery and Power Efficiency 24

4.3.4 Environmental Adaptability 24

4.3.5 Overall System Stability 24

4.4 Discussion and Conclusion 25

5 CONCLUSION 26
 vii

LIST OF FIGURES
Figure Pages
1.1 Arduino Mega 2560 3
2.1 Block Diagram of Robot 8
3.1 Servo Motor 9
3.2 Jumper Cable 10
3.3 Arduino Mega 11
3.4 Bluetooth HC05 Module 12
3.5 Ultrasonic Sensor 13
3.6 OLED Display Module 14
3.7 Arduino IDE 14
3.8 MIT App Inventor 15
4.1 Arduino Based Software Control Robot Back View 16
4.2 Inside a Standard Hobby Servo 17
4.3 Left Leg of Robot 18
4.4 Ultrasonic Sensor Signal Diagram 18
4.5 Code in Arduino IDE 21
4.6 MIT Control Design Interface 22
4.7 MIT Control Block Code Interface 22
4.8 Right Leg of Robot 23
4.9 Legs of Robot 23
4.10 Front View of Robot While Squat 24
4.11 Front View of Robot While Stand 25
 1

CHAPTER 1
INTRODUCTION

1.1 Introduction to Humanoid Robot

A humanoid robot is a type of robot designed to resemble the human body in
appearance and movement. They typically have a torso with a head, two arms, and
two legs, allowing them to perform tasks in a manner similar to humans. These robots
can be used in various fields such as healthcare, entertainment, education, and
research. They often incorporate advanced technologies such as artificial intelligence,
sensors, and actuators to perceive their environment and interact with it effectively.
Humanoid robots are used in various places and for different types of work. Here are
a few examples:

 Healthcare: Humanoid robots can assist healthcare professionals by providing

support to patients, helping with therapy exercises, and even conducting basic
medical procedures.
 Manufacturing: In manufacturing, humanoid robots can work alongside
humans on assembly lines, performing tasks that require precision and
dexterity.
 Education: Humanoid robots are used in educational settings to teach
programming, robotics, and other STEM subjects. They can also serve as
interactive tutors or companions for students.
 Entertainment: Humanoid robots are used in theme parks, museums, and other
entertainment venues to entertain and engage visitors through interactive
performances and demonstrations.
 Research: Researchers use humanoid robots to study human behaviour,
cognition, and interaction. These robots help scientists understand how
humans interact with technology and how to design more intuitive interfaces.
 Domestic Assistance: Some humanoid robots are designed to assist with
household chores such as cleaning, cooking, and monitoring home security.
 2

These are just a few examples, and the applications of humanoid robots
continue to expand as technology advances.

1.2 Robot Body

Some common parts of a humanoid robot body that may incorporate
servo motors are as follows:

 Head: Servo motors can be used to control the movement of the head,
including turning left and right, nodding up and down, and tilting side to side.
This allows the robot to look around and interact with its environment.
 Arms: Each arm typically consists of several joints, including the shoulder,
elbow, and wrist. Servo motors are used at each joint to enable precise control
of arm movement, allowing the robot to reach, grasp, and manipulate objects.
 Hands: Servo motors can control the fingers and thumb of the robot's hands,
enabling them to grip objects with varying degrees of force and dexterity.
 Torso: Servo motors may be used in the torso to enable the robot to twist and
bend at the waist, allowing for more natural movement and flexibility.
 Legs: Similar to the arms, the legs consist of multiple joints such as the hip,
knee, and ankle. Servo motors are used to control these joints, allowing the
robot to walk, run, and maintain balance.
 Feet: Servo motors in the feet can be used to control the angle and movement
of the ankles, aiding in stability and locomotion.

Each servo motor is typically controlled by a microcontroller or a central processing

unit (CPU), which sends commands to adjust the position or speed of the motor based
on sensor feedback or pre-programmed instructions. This allows the robot to move in
a coordinated and controlled manner.[5]

1.3 What’s Arduino?

Arduino is an open hardware development board that can be used by tinkerers,
hobbyists, and makers to design and build devices that interact with the real world.
While Arduino refers to a specific type of board design, it can also be used to refer to
a company which manufactures a specific implementation of these boards, and is
3

typically also used to describe the community around compatible boards made by
other people or companies which function in a similar way.[5]

Fig 1.1: Arduino mega 2560

4

1.4 Advantages of Humanoid Robot

Humanoid robots offer several advantages:
 Versatility: Their human-like design allows them to operate in environments
designed for humans, making them versatile for a wide range of tasks and
applications.
 Natural Interaction: Their human-like appearance and movement make them
easier to interact with, especially in environments where human interaction is
important, such as healthcare, education, and customer service.
 Adaptability: Humanoid robots can adapt to changing environments and tasks
more easily than specialized robots. Their ability to move and manipulate
objects in complex environments makes them suitable for tasks that require
flexibility and problem-solving skills.
 Safety: Humanoid robots can work alongside humans safely due to their
ability to detect and respond to changes in their surroundings. This makes
them ideal for collaborative tasks in manufacturing, healthcare, and other
industries.
 Research and Development: Humanoid robots serve as valuable tools for
research and development in robotics, artificial intelligence, and human-
computer interaction. Studying humanoid robots helps researchers better
understand human behaviour and cognition, leading to advancements in
technology and robotics.
 Empathy and Social Interaction: Some humanoid robots are designed to evoke
empathy and engage in social interaction with humans. This makes them
useful for applications such as therapy, companionship, and social assistance.

Overall, humanoid robots have the potential to revolutionize various industries and
improve the quality of life for people around the world.[5]
5

1.5 Disadvantages of Humanoid Robot

While humanoid robots offer many advantages, they also come with some
disadvantages:
 Complexity: Building a humanoid robot is a highly complex task that requires
advanced engineering and technology. Achieving human-like movement and
interaction can be challenging and may require sophisticated sensors,
actuators, and control systems.
 Cost: The development and manufacturing of humanoid robots can be
expensive, making them inaccessible to many individuals and organizations.
High costs are associated with research, development, materials, and
maintenance.
 Maintenance: Humanoid robots require regular maintenance to ensure optimal
performance. With many moving parts and sophisticated components,
maintenance can be time-consuming and costly.
 Power Consumption: Humanoid robots often require a significant amount of
power to operate, especially if they are equipped with advanced sensors,
processors, and actuators. This can limit their mobility and autonomy, as they
may need frequent recharging or access to power sources.
 Limited Applications: While humanoid robots have a wide range of potential
applications, they may not be suitable for all tasks. Some environments may
be too hazardous or challenging for humanoid robots to operate effectively,
limiting their practicality in certain scenarios.
 Ethical and Social Considerations: As humanoid robots become more
advanced and lifelike, ethical and social concerns arise regarding their impact
on society. Questions about job displacement, privacy, autonomy, and human-
robot interaction need to be addressed as humanoid robots become more
prevalent in various settings.[5]

1.6 Aim and Objective

6

Aim
 Create a humanoid robot using Arduino and servo motors, programmed in C+
+, capable of human-like movements and tasks.
Objective
 Design a stable mechanical structure.
 Integrate sensors for environment awareness.
 Implement kinematic control for movement.
 Program behaviours such as object detection and griping.
 Incorporate feedback mechanisms for smooth movement.
 Optimize C++ code for efficiency.
 Test, iterate, and refine.
 Document for replication and further development.
 7

CHAPTER-2
BACKGROUND THEORY

The theory background of a Bluetooth-controlled humanoid robot project using MIT App
Inventor would typically include the following key components:

2.1 Bluetooth Communication

Explain the basics of Bluetooth technology, including how it enables wireless
communication between devices over short distances. Discuss the different Bluetooth
profiles and protocols relevant to the project, such as the Serial Port Profile (SPP) or
Bluetooth Low Energy (BLE).[5]
2.2 Humanoid Robot Anatomy
Provide an overview of the anatomy and kinematics of humanoid robots,
including their joints, degrees of freedom, and movement capabilities. Discuss how
understanding human movement anatomy informs the design and control of the robot.[5]
2.3 Arduino Microcontroller
Introduce the Arduino microcontroller platform and its role in the project. Explain
how the Arduino board interfaces with the servo motors and other sensors and actuators
of the humanoid robot.[5]
2.4 Servo Motor Control
Describe how servo motors work and their importance in controlling the
movement of the humanoid robot's joints. Explain the concept of pulse width modulation
(PWM) used to control servo motor position and speed.[5]
2.5 MIT App Control
Provide an overview of MIT App Inventor, a visual programming environment for
creating mobile apps. Explain how App Inventor allows you to design a user interface
and program the logic for controlling the humanoid robot via Bluetooth communication.
[5]
8
 9

2.6 Bluetooth Serial Communication

Discuss the implementation of Bluetooth serial communication between the MIT
App Inventor app running on a mobile device and the Arduino board controlling the
humanoid robot. Explain the process of establishing a Bluetooth connection, sending
commands, and receiving data.[5]
2.7 Control Algorithms
Describe the control algorithms used to interpret user commands from the MIT
App Inventor app and translate them into specific movements of the humanoid robot.
Discuss strategies for coordinating motion sequences and ensuring smooth and accurate
control.[5]
2.8 Safety Considerations
Highlight safety considerations when designing and operating the Bluetooth-
controlled humanoid robot, including potential hazards associated with robot movement
and interaction with users or the environment.[5]
2.9 System Block Diagram

Figure 2.1 Block Diagram of Robot

By providing a comprehensive theoretical background, participants in the project
can gain a deeper understanding of the underlying principles and technologies involved in
controlling a humanoid robot using Bluetooth communication and MIT App Inventor.
 10

This knowledge will enable them to design, build, and program their own Bluetooth-
controlled humanoid robot systems effectively.[5]
 9

CHAPTER-3
DESIGN AND CONPONENT LIST

Hardware Component
3.1 Servo Motor
A servo motor is a rotary actuator that allows for precise control of angular
position. It consists of a motor coupled to a sensor for position feedback. It also
requires a servo drive to complete the system. The drive uses the feedback sensor to
precisely control the rotary position of the motor.[5]

Fig 3.1 Servo Motor

3.2 Jumper Cable

Jumper wires are used for making connections between items on your
breadboard and your Arduino's header pins. Use them to wire up all your circuits.[5]
 10

Fig 3.2 Jumper Cable

3.3 Arduino Mega 2560

It is a powerful microcontroller board based on the ATmega2560. It is widely
used for more complex electronics projects due to its large number of input/output
pins and higher memory capacity. Below are its purpose, advantages, and pin
configuration.
Purpose
The Arduino Mega is designed for projects that require a large number of digital and
analog inputs/outputs, more memory for programs, and complex tasks. It's suitable
for:
 Robotics and automation
 Large sensor networks
 Projects needing many components connected simultaneously (LED matrices,
servos, sensors, etc.)
 Data logging and control systems
 Advanced home automation systems

Advantages
1. More I/O pins: It has 54 digital I/O pins and 16 ana`log inputs, making it ideal for
projects that require many sensors or actuators.
2. Large memory: It has 256 KB of flash memory for storing programs, allowing for
more complex code.
3. Processing power: The 16 MHz clock speed ensures smooth execution of real-time
tasks.
4. Multiple serial ports: The Mega has 4 hardware serial ports (UARTs), allowing
simultaneous communication with multiple serial devices.
5. Increased PWM outputs: It provides 15 PWM outputs, useful for controlling
motors, LEDs, and other devices requiring pulse width modulation.
6. Compatible with shields: Most Arduino shields are compatible with the Mega, and
it offers more pins than other Arduino boards like the Uno.
7. Wide support and community: The Mega has a large user base, meaning it's well-
documented with plenty of resources and libraries.
11

Pins Configuration
 Digital I/O Pins (54): Pins 0-53. Pins 2-13 provide PWM output.
 Analog Inputs (16): Pins A0-A15 can read analog signals and convert them to
digital (10-bit resolution).
 Serial Communication Pins:
 TX (1, 18, 19, 14) and RX (0, 19, 17, 15) for UART communication.
 PWM Pins (15): Digital pins 2-13 and 44-46.
 SPI Communication: Uses pins 50 (MISO), 51 (MOSI), 52 (SCK), and 53
(SS).
 I2C Communication: Pins 20 (SDA) and 21 (SCL).
 External Interrupts: Pins 2, 3, 18, 19, 20, 21.
 Power Pins:
 VIN: Input voltage to the Arduino board when using an external power source
(7-12V).
 5V: Regulated 5V used to power the board and its components.
 3.3V: 3.3V supply generated by the on-board regulator.
 GND: Ground pins (multiple).
 AREF: Analog reference pin for the analog inputs.
The Arduino Mega 2560 is great for projects needing a large number of connections
and higher computing capacity while retaining the simplicity and ease-of-use of the
Arduino ecosystem.[1]

Fig 3.3 Arduino Mega

12

3.4 Bluetooth Module HC05

The HC-05 is a class 2 Bluetooth module designed for transparent wireless
serial communication. It is pre-configured as a slave Bluetooth device. Once it is
paired to a master Bluetooth device such as PC, smart phones and tablet, its operation
becomes transparent to the user.
 Key/EN: If we want to bring Bluetooth module in command
mode then we have to HIGH the enable pin. Otherwise, the
Bluetooth module is in data mode by default. The HC-05
has a default baud rate in data mode is 9600bps and baud
rate in command mode is 38400bps. The following are the
two modes of the HC-05 module.
o Data mode: Used to transfer data between two
devices.
o Command mode: To change the settings like
password, name, etc of HC-05 modules we use
command mode. In this mode, we send AT commands
to HC-05 by serial monitor.
 VCC: To supply power or current to the module, VCC pin
will be connect to a 5V or 3.3V pin.
 GND: Ground pin.
 TXD: Transmit Serial data. TXD pin use to wirelessly
received data by the Bluetooth module transmitted out
serially on the TXD pin.
 RXD: Receive data serially. When the Bluetooth module
transmits data, an RXD pin is use to receive that data.
 State: The State pin indicates whether the module is
connected or not.[5]

Fig 2.4 Bluetooth HC 05 Module

13

3.5 Ultrasonic Sensor

An ultrasonic sensor is an instrument that measures the distance to an object
using ultrasonic sound waves. An ultrasonic sensor uses a transducer to send and
receive ultrasonic pulses that relay back information about an object's proximity.[5]

Fig 3.5 Ultrasonic Sensor

3.6 OLED Display Module
0.96inch I2C/IIC 128×64 OLED Display Module 4 Pin – White Color is a precise
small, White OLED module which can be interfaced with any microcontroller using
I2C/IIC protocol. It is having a resolution of 128×64. The package includes display
board, display, 4 pin male header pre-soldered to board.
OLED (Organic Light-Emitting Diode) is a self-light-emitting technology composed of a
thin, multi-layered organic film placed between an anode and cathode. In contrast to
LCD technology, OLED does not require a backlight. OLED possesses high application
potential for virtually all types of displays and is regarded as the ultimate technology
for the next generation of flat-panel displays.
OLED’s basic structure consists of organic materials positioned between the cathode
and the anode, which is composed of electric conductive transparent Indium Tin
Oxide (ITO). The organic materials compose a multi-layered thin film, which includes
the Hole Transporting Layer (HTL), Emission Layer (EML) and the Electron
Transporting Layer (ETL). By applying the appropriate electric voltage, holes and
electrons are injected into the EML from the anode and the cathode, respectively.
The holes and electrons combine inside the EML to form excitons, after which electro
14

luminescence occurs. The transfer material, emission layer material and choice of
electrode are the key factors that determine the quality of OLED components.[1]

Fig 3.6 OLED Display Module

Software Component

3.7 Arduino IDE

The Arduino IDE (Integrated Development Environment) is used to write the
computer code and upload this code to the physical board. The Arduino IDE is very
simple and this simplicity is probably one of the main reason Arduino became so
popular.[5]

Fig 3.7 Arduino IDE

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3.8 MIT App Inventor

MIT App Inventor is an intuitive, visual programming environment that allows
everyone even children to build fully functional apps for smartphones and tablets.
Those new to MIT App Inventor can have a simple first app up and running in less
than 30 minutes.[5]

Fig 3.8 MIT App Inventor

 16

CHAPTER 4
TESTING AND RESULT

4.1. Overview of Testing

The testing phase focused on evaluating the functionality, reliability, and
efficiency of the Arduino humanoid robot controlled by the MIT App via Bluetooth.
Key objectives included confirming that each movement command sent through the
app translated accurately to the robot's actions, validating Bluetooth connectivity for
real-time control, and ensuring hardware components performed effectively. Testing
was conducted in stages to isolate and troubleshoot each part of the system, such as
motor responses, sensor accuracy, and Bluetooth communication. This structured
approach ensured a thorough assessment of both software control and hardware
performance, providing valuable insights for optimizing the robot’s movements and
responsiveness. [4][2]

Figure 4.1 Arduino Based Software Control Robot Back View

 17

4.2. Hardware Performance Tests

In this phase, the primary objective was to test the robot’s physical hardware
to ensure reliability, smoothness, and precision in movements controlled by the MIT
App via Bluetooth. Key hardware components tested included motors, servos,
sensors, and the structural integrity of the robot.

4.2.1 Motor and Servo Functionality

 Objective: To verify that each motor and servo accurately executes commands
from the MIT App, enabling the robot to perform movements like walking,
turning, and arm lifting.
 Method: The robot was placed on a flat surface, and various commands were
sent via the app to test each motor and servo. Movements were observed to
determine accuracy, consistency, and smoothness.
 Results: The motors responded to commands within acceptable time frames,
though minor adjustments were needed to improve balance. Servo accuracy
was validated by comparing expected angles to actual performance, with
results mostly within tolerance.[5]

Figure 4.2 Inside a Standard Hobby Servo

 18

Figure 4.3 Left Leg of Robot

4.2.2 Sensor Accuracy and Responsiveness

 Objective: To ensure sensors (e.g., distance, tilt, or accelerometer) provide
real-time feedback to avoid obstacles and maintain balance.
 Method: Sensor accuracy was assessed by placing obstacles at various
distances and observing if the robot detected them in time to adjust its
movement. Additionally, tilt sensors were evaluated by observing the robot’s
ability to stabilize after each movement.
 Results: Sensors demonstrated high responsiveness, allowing the robot to react
promptly to obstacles. Minor calibration was required to ensure consistent
detection across different lighting conditions.

Figure 4.4 Ultrasonic Sensor Signal Diagram

 19

4.2.3 Structural Stability and Endurance

 Objective: To test the robot's stability and endurance during prolonged use,
especially under commands requiring repetitive motion.
 Method: The robot was put through a series of repetitive movement
commands to assess structural stability and check for any loosening of parts or
overheating of components.
 Results: The robot maintained structural stability with no signs of overheating
after extended testing sessions. Some components required tightening to
maintain stability during complex movements.
20
 21

Figure 4.5 Code in Arduino IDE

Overall, the hardware performance tests demonstrated that the robot’s motors,
sensors, structural components, and power systems functioned effectively, though
minor adjustments were needed to optimize balance and sensor responsiveness. These
tests provided essential insights into the robot’s physical reliability and highlighted
areas for potential improvements in future iterations.
 22

4.3 Results and Observations

4.3.1 Response Time

The Bluetooth connection with the Arduino Mega 2560 provided reliable real-
time feedback. The delay between command issuance via the MIT App and robot
response was minimal (under 1 second), enhancing user experience and control
accuracy.

Figure 4.6 MIT Control Design Interface

Figure 4.7 MIT Control Block Code Interface

 23

4.3.2 Movement Precision

The robot demonstrated smooth movements and precise directional changes.
Walking and standing movements were stable on flat surfaces, but balance issues
appeared on uneven terrain.
Minor instability occurred during sudden turns, suggesting potential improvements in
servo calibration or power distribution.

Figure 4.8 Right Leg of Robot

Figure 4.9 Legs of Robot

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4.3.3 Battery and Power Efficiency

Testing highlighted power usage rates; prolonged operations (over 20 minutes)
led to a decrease in motor strength, impacting movement quality. This result indicates
a need for optimizing power consumption or enhancing battery capacity for longer
usage.

4.3.4 Environmental Adaptability

The robot functioned well on smooth surfaces but had minor issues with grip
and balance on carpets. This outcome suggests modifications, such as adding
rubberized foot pads for better traction on varied surfaces.

4.3.5 Overall System Stability

The combination of the Arduino Mega 2560 with Bluetooth and the MIT App
control system proved stable and effective. Control signals remained consistent across
multiple tests, showing that the system could handle repeated actions without error.

Figure 4.10 Front View of Robot When Squat

 25

4.4 Discussion and Conclusion

Testing results indicate that the Arduino humanoid robot met the basic
performance goals of controlled, responsive movement. Minor issues with power
efficiency and terrain adaptability emerged, suggesting areas for future improvement.
Overall, the Arduino Mega 2560 proved an effective replacement for the original
microcontroller, providing robust connectivity and control precision.

Figure 4.11 Front View of Robot When Stand

 26

CHAPTER-5

CONCLUSION

In conclusion, the Bluetooth-controlled humanoid robot project is a well-structured

system that integrates key components such as the Arduino Mega, SG90 and MG996R
servo motors for precise hand and leg movement, an LED display for visual feedback,
ultrasonic sensors for obstacle detection, and the HC-05 Bluetooth module for wireless
control. Additional elements like jumper wires and a fiber board, though not included in
the block diagram, are vital for connectivity and structural support. As looking toward the
future, humanoid robots like this could have far-reaching applications. They could be
employed in industries such as healthcare, where robots can assist with physical tasks, or
in customer service, where they can interact with people in dynamic environments. With
further advancements, these robots may also play a significant role in personal assistance,
education, and even hazardous environments, helping humans in ways that improve
efficiency, safety, and accessibility.
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