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Added Quadraped Robot Documentation (#993)
* Added Quadraped Robot Documentation Signed-off-by: agherghiceanu <agherghiceanu@stud.acs.upb.ro> * added schematics Signed-off-by: agherghiceanu <agherghiceanu@stud.acs.upb.ro> --------- Signed-off-by: agherghiceanu <agherghiceanu@stud.acs.upb.ro>
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‎website/versioned_docs/version-acs_cc/project/2026/agherghiceanu/images/schematics.webp‎

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‎website/versioned_docs/version-acs_cc/project/2026/agherghiceanu/index.md‎

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# Quadraped Robot
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A bluetooth-controlled spider robot that can move around via 8 servos.
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:::info
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**Author**: Alexandru-Bogdan Gherghiceanu \
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**GitHub Project Link**: https://github.com/UPB-PMRust-Students/acs-project-2026-alexgherghiceanu
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:::
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<!-- do not delete the \ after your name -->
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## Description
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This project is a bluetooth controlled spider robot that you can sync up to your phone/tablet. From your device you can control it's speed,direction of travel and issue it extra gestures and commands, such as a wave.
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## Motivation
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From a young age, I have been interested in robots and the process of building them. Futhermore, I have been following the
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progress of boston dynamics projects for a long time, so I knew that I wanted to build a quadraped robot myself. When I recently
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watched the movie Project Hail Mary, I decided that a spider is the best shape for my project to take.
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## Architecture
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```mermaid
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flowchart TD
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subgraph ext ["External Inputs"]
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U["Android/iOS Device"]
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BT_Mod["HM-10 Bluetooth Module"]
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end
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subgraph stm ["STM32 Microcontroller (Rust Code)"]
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BTH["Bluetooth Handler Module"]
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MP["Motion Planner Module"]
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KE["Kinematics Engine (IK) Module"]
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I2C["I2C Controller Module"]
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end
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subgraph periph ["Logic Peripherals"]
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ServoD["PCA9685 Servo Driver Module"]
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Motors["Servomotors (x8)"]
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end
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U -- "Bluetooth (BLE) Commands" --> BT_Mod
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BT_Mod -- "Serial Data (UART)" --> BTH
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BTH -- "Parsed Command (e.g., 'F', 'L', 'W')" --> MP
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MP -- "Pose/Leg Positions (X,Y,Z)" --> KE
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KE -- "Servo Angles" --> I2C
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I2C -- "I2C Commands" --> ServoD
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ServoD -- "PWM Signals" --> Motors
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```
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## Log
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<!-- write your progress here every week -->
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### Week 16 - 22 March
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Decided on the project idea
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### Week 13 - 19 April
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Ordered the necessary hardware components.
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### Week 20 - 26 April
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All hardware components arrived.
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## Week 27 April - 3 May
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Started writing the documentation and modifying the source chasis to fit my components.
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### Week 5 - 11 May
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### Week 12 - 18 May
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### Week 19 - 25 May
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## Hardware
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The main brain of the project is the STM32 Nucleo-U545RE-Q microcontroller provided by the PM team. This takes the input from the HM-10 Bluetooth module and processes it into a signal the i2c controller can then give to the PCA9685 Servo Driver. From there, the signal is passed on to the 8 servomotors that power our robot spider, 2 in each leg. The system is powered by a 1000mAh 7.4v LiPo 2 cell batery and will be built on a modified version of the chasis of the Sesame spider-robot linked in the link section.
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### Schematics
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![Diagram](images/schematics.webp)
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### Bill of Materials
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<!-- Fill out this table with all the hardware components that you might need.
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The format is
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```
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| [Device](link://to/device) | This is used ... | [price](link://to/store) |
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```
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-->
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| Device | Usage | Price |
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|--------|--------|-------|
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| [STM32 Nucleo-U545RE-Q](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) | The microcontroller | [~120 RON]() |
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| [Servomotor MG90S, angrenaje Aluminiu](https://sigmanortec.ro/servomotor-mg90s-angrenaje-aluminiu) | The servomotors, we will use 8 | [19,34 RON]() |
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| [Modul PCA9685, interfata I2C, 16 CH, servo motor](https://sigmanortec.ro/Modul-PCA9685-interfata-I2C-16-CH-servo-motor-p126016016) | Used to interface the microcontroller and the servomotors | [27.27 RON]() |
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| [Modul coborator tensiune XL4015, 8-36VDC, 5A, 75W](https://sigmanortec.ro/Modul-coborator-tensiune-XL4015-8-36VDC-5A-75W-p158483017) | Used to interface the microcontroller and the servomotors | [9,96 RON]() |
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| [Intrerupator KCD-1, SPST, On/Off, 23mm](https://sigmanortec.ro/Modul-coborator-tensiune-XL4015-8-36VDC-5A-75W-p158483017) | Used to turn the robot on or off | [1,85 RON]() |
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| [4.0 Bluetooth Module (3.3 V and 5 V Compatible)](https://www.optimusdigital.ro/en/wireless-bluetooth/862-modul-bluetooth-40-cu-adaptor-compatibil-33v-si-5v.html?search_query=4.0+Bluetooth+Module+%283.3+V+and+5+V+Compatible%29&results=21) | Used to connect from the phone to the robot | [29,99 RON]() |
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| [Electrolytic Capacitor 1000 uF, 50 V](https://www.optimusdigital.ro/en/capacitors/3006-electrolytic-condensator-from-1000-uf-to-50-v.html?search_query=0104210000027129&results=1) | Used to store excess voltage | [1,49 RON]() |
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| [0.25 W 1K Ω Resistor](https://www.optimusdigital.ro/en/resistors/848-025w-22k-resistor.html?search_query=0.25+W+1K+%CE%A9+Resistor&results=32) | Used to provide resistance in the circuit | [0,10 RON]() |
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| [Undervoltage Battery Alarm Module](https://www.optimusdigital.ro/en/others/2237-alarma-scadere-tensiune-acumulatori.html?search_query=Undervoltage+Battery+Alarm+Module&results=1) | Used to signal when the battery is low | [7,99 RON]() |
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| [Incarcator B3 20W 1.6A pentru Acumulatori 2S si 3S cu Echilibrare Celule](https://www.emag.ro/incarcator-b3-20w-1-6a-pentru-acumulatori-2s-si-3s-cu-echilibrare-celule-b3-20w-1600-2s3s/pd/DGCKNZ3BM/?ref=history-shopping_484971926_47538_1) | Used to charge the batery | [29,90 RON]() |
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| [Baterie Gens Ace G-Tech Soaring 1000mAh 7.4V 30C 2S1P XT60](https://www.emag.ro/baterie-gens-ace-g-tech-soaring-1000mah-7-4v-30c-2s1p-xt60-kxg0060208/pd/D5RNQWMBM/?ref=history-shopping_484971926_36153_1) | Used to power the robot | [58,20 RON]() |
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| [Set conectori electrici Amass XT60, 1 mama si 1 tata si 2 carcase](https://www.emag.ro/set-conectori-electrici-amass-xt60-1-mama-si-1-tata-si-2-carcase-amxt60/pd/DN37BB3BM/?ref=history-shopping_484971926_3410_1) | Used to connect the battery | [8,82 RON]() |
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| [10 x Fire Dupont mama-mama 20cm](https://www.emag.ro/10-x-fire-dupont-mama-mama-20cm-ai307-s465/pd/D1J66JBBM/?ref=history-shopping_484971926_38837_1) | Used to connect different parts of the project | [2,67 RON]() |
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| [40 x Fire Dupont mama-tata 20cm](https://www.emag.ro/40-x-fire-dupont-mama-tata-20cm-zcbozh-fdp-fm-40x20/pd/DRQD522BM/?ref=history-shopping_484971926_156063_1) | Used to connect different parts of the project | [19,72 RON]() |
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## Software
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| Library | Description | Usage |
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|---------|-------------|-------|
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| [st7789](https://github.com/almindor/st7789) | Display driver for ST7789 | Used for the display for the Pico Explorer Base |
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## Links
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<!-- Add a few links that inspired you and that you think you will use for your project -->
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1. [Laboratoarele PM](https://embedded-rust-101.wyliodrin.com/docs/acs_cc/category/lab)
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2. [Proiectul de inspiratie](https://www.doriantodd.com/sesame)
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3. [Repository-ul Proiectului Sesame](https://github.com/dorianborian/sesame-robot/tree/main)
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...

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