My project to complete the Bachelor of Engineering degree
- 1 STM32F4 Microcontroller development board (ARM Cortex M4)
- 12 PWM channels
- 4 timer interrupts
- 2 external event interrupts
- 1 SPI channel
- 1 UART channel
- 12 step motors with PWM control
- 3 motor for 1 leg
- 1 MPU-6050 Gyroscope
- 10-axis gyroscope
- Interface with the microcontroller through SPI
- 1 Xbox360 Controller
- Interface with Microcontroller through a wireless module
- Path planning and motion planning
- 3 seleted gaits for traversing through different terrains
- Creeping, Walking, Trotting
- Direction of movements controlled by the Xbox 360 Controller
- Fuzzy Logic Controller
- Implemented in the ARM CPU
- Realtime response to terrain conditions
- Input data: From 10 different gyroscope channels
- Output: Signals to configre the gait parameter vector to adapt to the new environment
- Kalman filter
- To eliminate Input noises from input data
- Use ARM Keil IDE to build and compile project files into .bin object
- Use the built-in debugger to load the object file into the chip ROM