Strandbeest

N Jayanth kumar
August 2, 2015
Abstract
This report describes a computer code controlled toy with its design based on the
work of Theo Jansen.Primary focus of the report is how we made this toy.Further
we would like to use it to mimic the navigation system of the brain.The project uses
Raspberry Pi(a microcontroller) which is controls the motions of the toys.It can recieve
inputs from the enviornment such as touch which can be used as inputs in the python
codes, which returns an output which will be used to drive motors in the calculated
direction the output.A detailed description is given below.

Goal

To explore Raspberry Pi,to create a walking robot that can be controlled using a python
code which runs on Raspberry Pi.The code instructs the toy to darge obstacles that it has
met before,make a map of the surroundings and its location,which will help it navigate.That
is simillar to the navigation system in our brain.

Motivation

I was motivated to do this project because, I could see the outcome of the python code emerge
as a physical movement and it would change the way people think about programming as
a virtual task.I was also motivated to use legs instead of wheels because,it can move freely
on all surfaces,this structure and system was invented by Theo Jansen and it was called as
Strandbeest.It was first made using waste pvc pipes .It is known for its movement of legs
because,he devoloped the whole mechanism of movements and the length of the legs using
as genitic algorithim, that used the movement of our feet as optimisation factor and was
iterated over generation to get the best lengths of the legs.

Progress

To make the structure of the robots,I thought of 3D printing the parts from the 3D printer
in Physics department.So we tried making the strandbeest in Mountboards and tested the
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movement of the legs.

The movement of the legs were fine and satisfactory. So we proceeded to remake the model
in a 3D printing software. We designed the legs of the strandbeest using the FreeCAD and
3D printed it, but as the resolution of the printer was not so good and the material was not
tough enough.We could not make the strucutre of the robot.So,I dropoed that idea.Then I
bought a fabricated kit and assembeled the parts,and customised it to fit the design,fitted it
with a L293D IC circuit which controls 2 motors independently which was inturn controlled
by the microcontroller.The microcontroller was remotely acessed to send codes which would
control the voltage and frequency of the current which it sends out

Working

The rotational motion of the motor are converted into movement of the leg, this helps the
strandbeest to move,to rotate or turn the differences in speed betweeen the two motors or
the change in polarity helps it turn,the motors are controlled by an IC called L293D which
is connected to the Raspberry Pi which is sends impulses of power according to the output
of the code, simillar to that of Truth table values.When 1 is the output current flows and
when it is zero it doesnt.So we can program this in the Raspberry Pi to control the motor
by controling its output.Hence the motor rotates and the legs swing into a walk.

Difficulties

Designing the 3D files were difficult,we were not able to edit the designs found in the internet,so we were forced to learn FreeCAD and recreate the design from the scratch.The
resolution of the 3D printer was also a problem.The fabricated strandbeest is made up a
thermo plastic,It cannot carry more weight which is a problem as they are supposed to carry
all the components including the battery

Future plans

We have planned to incorporate touch sensors such as MPR121 to detect obstacles.To write
a code that can make the toy navigate on its own without crashing with the obstacles
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Acknowledgement

This project consumed huge amount of work, research and dedication. Still, implementation
would not have been possible if we did not have a support of many individuals and organizations. Therefore we would like to extend our sincere gratitude to all of them. First of all we
are thankful to IISER for their financial and logistical support and for providing necessary
guidance concerning projects implementation.I would like to express our sincere thanks towards Dr.Collins Assasi, who devoted his time and knowledge in the implementation of this
project.Nevertheless, we express our gratitude towards my friends and colleagues for their
kind co-operation and encouragement which help us in completion of this project.