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https://github.com/erc-bpgc/spiderbot

Official repository of Project SpiderBot
https://github.com/erc-bpgc/spiderbot

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Official repository of Project SpiderBot

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# **Project Spiderbot**



Official repository of Project SpiderBot.



Project is currently under development and this repository will serve as

a place to work on the software stack of the project.



## Current branch division:



`main` - Latest stable code of the project.
 

`dev` - Development code of the project of the hexapod system. 


`test` - Testing branch for trying out concepts and features on other simpler systems like robotic arm and quadruped.



## **Introduction**



The SpiderBot project aims to create an advanced robotic platform

capable of agile exploration and surveillance in dynamic and challenging

environments. Drawing inspiration from the remarkable abilities of

spiders, SpiderBot will incorporate cutting-edge locomotion mechanisms,

sensory perception, and autonomous decision-making capabilities. This

project description outlines the primary goals, features, and potential

applications of SpiderBot. Through rigorous development, testing, and

validation, SpiderBot will provide a reliable and adaptable solution for

a wide range of real-world applications, contributing to advancements in

robotics and enhancing human capabilities.



## **Why a Hexapod?**



 Six legs yield extra stability and maneuverability, especially when

climbing something like rubble. With 4 or less legs, the robot needs to

be very careful about how it positions its center of gravity and which

legs are off the ground, so as not to fall over. With 6 or more legs,

the robot can lift multiple legs up without tipping over, and does not

need to exert much effort try not to fall. It also means, from a

robotics perspective, the algorithms for locomotion do not necessarily

need to be closed loop, and do not necessarily need to take into

consideration the momentum or center of gravity of the robot. Therefore,

controlling such a robot, even though it has more limbs, is actually

easy.More than six consumes a lot of power and moreover the gait

patterns are complex .The more the legs the more complex it becomes



## **Uses**



Following are few places where spiderbot can used:



-   Search and Rescue: Spiderbots can navigate through complex and

    challenging environments, such as collapsed buildings or disaster

    zones, to search for survivors or assess the situation. Their

    ability to climb over debris and uneven surfaces makes them valuable

    for search and rescue missions.



-   Inspection and Maintenance: Spiderbots can access difficult-to-reach

    areas, such as tall structures, bridges, or pipelines, to perform

    inspection and maintenance tasks. Their climbing abilities make them

    ideal for assessing the integrity of infrastructure.



-   Surveillance and Security: Spiderbots can be deployed for

    surveillance and security purposes. They can navigate indoor and

    outdoor spaces, providing real-time video or sensor data to monitor

    and secure locations.



-   Medical Applications: Spiderbots may be utilized in medical

    applications, such as minimally invasive surgery. Their compact size

    and ability to move around obstacles can be beneficial in accessing

    hard-to-reach areas within the human body.



-   Mapping and Environmental Monitoring: Spiderbots can be equipped

    with various sensors to map terrain, monitor environmental

    parameters, or collect data in remote locations.



-   Military and Defense: In military applications, spiderbots can be

    used for reconnaissance and surveillance missions. Their ability to

    move quietly and traverse challenging landscapes can be advantageous

    in certain scenarios.



-   Space Exploration: Spider-like robots have been proposed for use in

    space missions, both for planetary exploration and satellite

    maintenance.



## **Mechanical design**



All the legs are 3D printed and the base is made up of 5.5mm of plywood.

The bot has a covering of Acrylic.



### **Dimensions**



Base-Hexagon of side 140 MM



Leg-6 legs. Each leg having 3 joints. The three joints provide 3 DOF

mimicking a human Leg of which dimensions are



HIP 124 mm



LEG 174 MM



Hip to Base 66 mm



## **Electronics**



### **List of Components used**



Single pole MCB, 10A buck converter, 10amg wires, 35kg-cm servo (RKI

1202), 16kg-cm servo (RKI 1206), Lippo battery 4200mah, Raspberry pi 4,2

Arduino Mega



### **PCB design**



Trace widths used: 188.89mils, 13.79mils, 6mils Components: Arduino,

Male-Male Headers, XT-60 connector Current rating: 20A

Copper weight: 2oz



### **Software**



We have used ROS (Robot Operating system) framework. The programming

language used is Python



Rosserial is used for communication between the raspi and arduino



### **Rosserial**



Rosserial is a protocol to send data through a serial interface. In a

client-server rosserial implementation, a rosserial-server is a computer

running ROS and a rosserial-client is the microprocessor that receives

sensors' data and transports it to the server in the form of ROS

messages. rosserial-server in this implementation is a publishing node

while rosserial-client is a subscriber node, although this can sometimes

be the other way round.



## **Requirements**



-   *ROS Environment*: First, you need to have a working ROS environment

    on your computer. This involves installing ROS and setting up a ROS

    workspace with your packages.



-   *Install Rosserial*: Install the Rosserial package on your ROS

    computer by running the appropriate command

```bash

sudo apt-get install ros-\-rosserial-arduino

```

```bash

sudo apt-get install ros-\-rosserial-python

```



-   Install Rosserial on Arduino



-   *Configure Rosserial:* In the Arduino code, include the necessary

    Rosserial headers, and configure the communication parameters, such

    as the serial port and the baud rate



-   *Run Rosserial*: Run the Rosserial node on your ROS computer. This

    node handles the communication between the computer and the

    microcontroller



-   *Upload Arduino Code*: Upload the Arduino code with the Rosserial

    integration to your Arduino board.



In our workspace directory it is present in



```~/catkin_ws/rosserial```



## **Running the code**



Run the given lines to start the spiderbot



```bash 

roslaunch spiderbot arduino.launch

```



```bash 

roslaunch automation automation.launch

```



## **Future goals**



Implementing CPG , improving the mechanical design to make the bot

lighter Using RL to developing non slipping motion. Last but not the

least, making the robot autonomous. Upgrading the circuitry of the

robot. It includes replacing current electrical devices with better

alternatives.egArduino ,raspi with jetson nano and STM board

respectively. Using motors which give feedback as it will be needed for

implementing CPG/using sensors at legs which detect elevation and depth