SpyCat

TUBITAK 2209/B

• Conseptual System Design
• Mechatronical System Desing and Development
• Robotic Developments and Tests

Quadruped robots are mostly used for hazardous environments that contain obstacles and can be dangerous for humans. Necessity of legged robots are increasing day by day because of their ability of move more flexibly and efficiently on rough terrain than other classical type robots. We present a design of a quadrupedal robot in a small size like a cat. Robot systems include a smart method for leg control, determine the body orientation and global location. This project open doors to enable the quadruped robot to walk over uneven terrain while keeping its balance as well as executing autonomous missions.

Cat like quadruped robot project aimed to be developed in order to lay the groundwork for future studies in addition to a quadruped robot design. In this way, project offers a low-cost, easy to build, lightweight and open to development robot to people who want to contribute from different disciplines in the field of rapidly developing legged robotics without needing to worry about the mechatronics. Thus, we aimed to contribute to the innovations in the field of legged robotics by opening a way to develop this platform.

• SolidWorks
• Solidworks Simulation
• Python
• Proteus
• MS Office
• Latex

• Raspberry Pi
• Arduino
• Linux
• ROS1
• Matlab Simulink
• IMU Sensor
• GPS
• Dynamixel Servo Motors (Servos with feedback via UART Communication)
• 3D FDM Printer
• Many PCBs, soldering practices

• Ability to formulate the requirements and specifications of each mechanical part and drive part from the purpose of the entire system.
• Experience in 3D CAD design and manufacturing of multijoint robots considering aesthetic, weight, budget, quality, and also ease of kinematic control etc.
• Experience in design of basic PCB design using Proteus
• Analysis of forward and inverse kinematics of high DoF robotic joints
• Knowledge about sensor handling (noise-filtering, designing DAC, working with analog and digital sensors)
• Academic knowledge on robotics (path and trajectory planning, independent joint control, velocity kinematics)
• Theoretical background of system dynamics, automatic control theory and fundamental controllers such as PID Controller, Lead-Lag Compensators, LQR Controllers
• Robotic control algorithm implementations using Python
• Experience in conducting system dynamic anaysis using Matlab Simulink
• UI design and development experience using C# (WindowsFormApplication .NetCore)
• Robotic control development ın ROS and operate simulator (Gazebo)
• Prototype manufacturing with 3D printer