CH1P-E 2.0 Claptrap Walking Robot by mayrthom

Last crawled date: 3 years, 1 month ago

This Chip-E is remixed with CL4P-TP aka Claptrap from the video game Borderlands. This gives Chip-E an even more robotic look. Besides that we have added arms to enable better dancing abilities. With his new eye (Pi-Cam) he can see and snap pictures. Speaking of it we have added a Raspberry Pi Zero, with this major hardware upgrade the possibilities are almost endless. So e.g. we changed the little piezo speaker to a real speaker, which we connected over a lowpass filter to the GPIO Pin 18 of the Pi according to adafruits instructions: “https://learn.adafruit.com/adding-basic-audio-ouput-to-raspberry-pi-zero”. So now the ChipE is capable to talk in a real Language or to play songs.
The big problem we ran into with the Raspberry is, that there aren’t enough PWM pins, which are essential for the servos. We thought about using the adafruit servo driver, but we didn't want to wait until it arrives, so we added an Arduino UNO, which communicates over I2C with the Pi and just does the PWM-Stuff for it. An Arduino Nano would be even better, because it's smaller, but we had the UNO already at home.
Of course the RobotGeek Geekduino is useable as well.
One idea was, to program a web interface for the Robot on the Raspberry, so it’s possible to control CH1P-E over your smartphone.
We wanted to use the original servos from RobotGeek, but they were hard to come by for us here in Austria, so we used MG995 servos, but we designed
the body so, that the Robotgeek servos are useable as well. We changed the shoes, feet and legs for the MG995 differently. The arms are moved by standard 9g servos. There are no ball bearings needed. The feet for the MG995 are screwed together with tapping screws.
By using the RobotGeek kit, only the Raspberry Pi stuff (pi zero, pi camera, speaker components), the servo for the arms and the tapping screws must be bought seperatly.
If you want to use the RobotGeek Servos print the part with the "_RobotGeek" ending, otherwise use the "_995" Parts.
We tried to use as many snap fits and screw connections as possible. Only the camera holder for the picam, the speakercap and the antenna must be glued in.
Currently we are in the process of programming the Robot, but we don't have enough time to complete it right now.
Features list:
Raspberry Pi as brain
Arduino as PWM Controller
real speaker
Pi camera
HD 44870 16x2 LCD
LED
moving Arms
Sweet dancing moves
optional Features:
IR Receiver
Electronic parts list:
4x mg995 servos or alternatively 4x RobotGeek 180° Servos
2x 9g servos
1x raspberry pi zero w
1x raspberry pi camera module
1x arduino uno/nano or alternatively the RobotGeek Geekduino (we used the uno because we already had it)
1x HD44780 16x2 LCD Display + I2C adapter (usuallsy they are already soldered together)
1x mini speaker + 1x 10nF +1x 10µF capicators + 1x 150Ω + 1x 200Ω resistors for the lowpass
1x LED
1x toggleswitch
1x coax power jack, panel mount
1x batterypack 6V
1x step down regulator 5V or alternatively 5V voltage regulates(we had to use 3 in parallel)
header pins
perfboard
Mechanical part list:
1x Body.stl
1x topcap.stl
1x Antenna.stl
1x picam_holder.stl
1x speaker_cap.stl
1x arm_left.stl
1x arm_right.stl
4x tapping screw 1.2 x 4.5mm for fixing the arms on the servos
4x tapping screw 2.8 x 12mm for mounting the topcap
+for the RobotGeek typ:
2x Long C Bracket form RobotGeek
1x Foot_Left_RobotGeek.stl
1x Foot_Right_RobotGeek.stl
1x Shoe_Left_RobotGeek.stl
1x Shoe_Right_RobotGeek.stl
+for the MG995 typ:
1x foot_left_995.stl
1x foot_right_995.stl
1x shoe_left_995.stl
1x shoe_right_995.stl
2x leg_995.stl
2x bearing_995.stl
8x tapping screw 2.8 x 12mm for the feet
See CH1P-E walking:https://youtu.be/0-S2gbGk48I
See CH1P-E dancing:https://youtu.be/xD_imHESIJE