Romanian Journal of Petroleum & Gas Technology (Jun 2023)

SPIDER4LEGS MOBILE ROBOT DESIGN CONTROLLED BY THE ESP32 PLATFORM

  • Vlad Catalin Necula,
  • Diana Stamate,
  • Gabriela Bucur

DOI
https://doi.org/10.51865/JPGT.2023.01.21
Journal volume & issue
Vol. 4, no. 1
pp. 251 – 258

Abstract

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The grazing robot is a dynamic system, consisting of a platform (the body of the robot) and a number of legs with structures similar to the kinematic chains of manipulator robots. Grazing robots can have a redundant number of legs, therefore they can ensure a static stability even if one or more legs are destroyed [10]. The objective of the work is to design a mobile robot controlled with the Arduino board controlled by an ESP 32 logic processor. The robot proposed in the paper is a spider-type robot with four legs, named SPIDER4LEGS. The components used to make the robot are the following: ESP32 development board, ESP ROOM-32, WiFi and Bluetooth BLE, Dual Core; PCA9685 module, I2C interface, 16 CH, servo motor; 12 Servo motors SG90 180 degrees. A possible field of application of these robots is the internal inspection of pipelines transporting petroleum products [7],[8],[9].

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