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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.

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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
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Our Domains…..

Currently ARK Technosolutions is largely divided into

four domains:
• ARK Training Centre (for Engineering Students).
• ARK RoboJunior (for School & Jr. College Students).
• ARK Embedded Systems (PG Courses for Graduates
and Professionals).
• ARK Industrial Solutions – Research & Development.
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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 BVRIT – Hyderabad
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OUR REACH..
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Bi-Pedal Robots
The beginning of humanoids.
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Robot

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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Hence:

Electro-mechanical device

Performs Various tasks

ROBOT

May be human controlled

or automated

It finds it’s uses in all aspects

of our life.
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Definition

The word ‘Robot’ comes from the Czech word ‘Robota’

which means ‘forced labour’
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Application of Robots

Industry

Medical

Military

Space Exploration

Research & Development

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Industry: Material Handling

A robot is required to
palletize soft packages
onto a pallet.

Handle with care:

Robotic System
Packages muffins.
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Industry: Automotive Welding

& Painting
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Military: Drone Aircrafts

Drone Planes being

used by the U.S army
to keep a watch on
key enemy
installations and
enemy movement
using thermal
imaging and image
processing
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Bomb Disposal
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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Medical: Tele surgery

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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Space Research: Exploring other

planets
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Types of Robot (Base on Control)

ROBOTS

SEMI-
MANUAL AUTONOMOUS
AUTONOMOUS

PRE- SELF
WIRED WIRELESS PROGRAMMED LEARNING
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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.
• 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.
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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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Chassis
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Microcontroller
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Need for a Microcontroller or

Microprocessor
• A microprocessor is the heart of computer
systems.

• A microcontroller is the heart of an embedded

system.

• Most communication, digital entertainment and

portable devices, are controlled by either of them.

• A designer should know what types of components

he needs, ways to reduce production costs and
product reliable
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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
contrast MCU contains few other
components apart from CPU,
which includes RAM, ROM and
other peripherals like ports,
c l o c k , t i m e r , U A RT A D C D A C ,
Drivers for LCD, etc

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 b e
seen as a small computer which
is embedded on a single IC
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Comparison
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Difference between µp & µc

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

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

 • DC motor with in built feedback & Servo Motors
error compensation
Stepper Motors
• For controlled rotation
DC Motors
• Finds extensive general use
• Not used much in robotics
AC Motors
Motors
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DC Motors
As the name suggests, a
motor which uses a DC
(Direct Current) power

Can run in both

directions

Speed Controllable
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Stepper Motors

Used for Can be held

measured at a
rotation. particular
position of
the shaft.
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Servo Motors
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:
1. Higher rotational torque
2. Higher max RPM
3. Positive Feedback Control
• Stepper Motors provide:
1. Higher holding torque
2. 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
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Sensors
Sensors that a robot uses generally fall into three
different categories:
1. Environment sensors tell the robot what is happening
around it like Thermal Sensors, Pressure Sensors,
Ranging Sensors, Touch Sensors
2. Feedback sensors tell the robot what it is actually
doing like Tachometers, and
3. Communication sensors allow a human or computer to
provide a robot other information, example IR and
RF.
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Power Supply System

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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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Assembly.

Please refer to the biped assembly power point file for assembly instruction.
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Upload the programs to see various

functions of the bipedal robot.
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Thank You
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